How would I make an NPC or rig float while keeping it's normal physics?

I want the rig to walk normally and to play normal animations, I only need for them to be elevated at a certain level. A BodyPosition would solve my problem, however they don’t exist anymore. I don’t understand how AlignPosition can help me with this problem. Does anyone know how I can go about doing this?

the easiest way to do it, if the rig have a Humanoid then make the Humanoid HipHeight value higher

The rig seems that it’s a bit inconsistent when I do this as the rig sinks downward for a bit before going back to it’s original height while walking.