Raycasting for Footplanting Help!

So I’ m making a Footplant script using the IKControl and to do that I need to Raycast the tiny little part ( which is the target for the ikcontrols ) and move it to it’ s appropriate cframe.
Now this is where the issue begins!
Where would I Raycast this part? How do I do it the most efficient way possible?

Below is for animation based footplanting.

Are you looking to do it procedurally?

Yes I am. Also I already tried your post but it doesn’ t work properly!