I would say this is not possible.

One reason is that to be habitable, the new planet would have to be in the Goldilocks zone orbiting the Sun.  That would put it too close to the Earth and could cause tidal problems. 

Secondly, the impact of two large bodies like Venus and Mars would create a lot of heat and debris.  To inhabit the planet, we would need to wait millions of years for the temperature to cool down, debris to stop raining down and for volcanic and seismic activity to stop.

Another reason is that it is quite preposterous to consider moving planets, particularly across orbits of other planets.  If we had the incredible ability to do that, presumably we would be able to terraform Venus and Mars in their current orbits.