Rig Footing > Idle Animation Help

What am I doing wrong here? I know the right foot is raised when the idle animation is played, but how do I fix this for my rig without hiding the bottoms of my feet in to the ground? Any help would be greatly appreciated.
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When the animation plays, the right and left leg ‘tense’. To fix this maybe make the legs not move so they don’t make the feet move?

I think the beginning of the gif just got clipped off. Thanks, though.