I\'ve seen a plugin for Vim called AutoClose (discovered from this post) which automatically adds the closing brace when typing \'(\', \'{\' etc.
For example; when I
There's also 'paredit. The cheat sheet shows you all the commands available. happen to like it better than the electric mode suggested in another answer. Though paredit does only apply to (), so it may not meed your needs.
But, to be honest, there's a bunch of packages surrounding parenthesis. The wiki has them all listed here. The modes addressing your question are: