Custom Leg Movements?

I want to make a system where i will manually control the legs instead of using animations. I’ve tried to learn Inverse kinematics and saw Egomoose’s video on Fabrik. I understand it buy have no idea how I can implement it. If I could get some help or if someone can link me some way that’s easier that would be wonderful. Thanks!

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There have been a lot of resources on the Dev Forum covering this. Here two that might help you: