Need help making a wall climbing system

I want to make a wall climbing system, and I know there’s plenty of tutorials out there, but none of them seem to have what I need, only provide a written explanation, describing what they are doing but not saying what settings should be what and what code to write and math etc., or include features that I do not want that have been really painful to try to remove with little success. I just want it so it ray casts to a climbable wall, puts my character at the position and rotation of the hit area, and then when I try to move I move in the direction relative to the wall in the direction, like up, down, left, and right. I’ve already got the ray casting system and movement direction detection, but I can’t seem to figure out how to stick the player to the wall without falling, sliding or just jittering like crazy and be able to move around. I basically want this but I’m still having trouble understanding how to make it myself - Recreating my favorite wall climb mechanic in Roblox - YouTube
please help