Is there a way to easily use IK for custom npcs?

Hi is there a way to use IK on custom npcs? Bassicly I have a custom character, And if i rigged it and all would i be able to use IK on the legs so if its like stairs it uses inverse kinematics

Somethin like this:

(NOT MY VIDEO)

This is my character:

(NOT MY ASWELL)

Heres the inside of the character:

Screenshot 2024-12-09 090001

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