Hi,
Other answers are correct as far as where you can and can't use hyphens, however at the root of the question, you should consider the idea of not using dashes/hyphens in your variable/class/ID names altogether. It's not standard practice, even if it does work and requires careful coding to make use of it.
Consider using either PascalCase (all words begin in capital) or camelCase (first word begins in lowercase, following words being in uppercase). These are the two most common, accepted naming conventions.
Different resources will recommend different choices between the two (with the exception of JavaScript which is pretty much always recommended camelCase). In the end as long as you are consistent in your approach, this is the most important part. Using camel or Pascal case will ensure you don't have to worry about special accessors or brackets in your code.
For JavaScript conventions, try this question/discussion:
http://stackoverflow.com/questions/921133/javascript-naming-conventions
Here's another great discussion of conventions for CSS, Html elements, etc:
http://stackoverflow.com/questions/1790455/whats-the-best-way-to-name-id-classes-in-css-and-html