Why do my npc's legs sink through the floor

what i want to happen is my npc to follow and attack me and stand ontop of the ground but his legs keep sinking through the floor i know there are many other articles about this but none of them seem to help.
robloxapp-20220411-1159522.wmv (1.7 MB)
i also dont know how to change hip height

Go to the NPC’s humanoid and change it’s hip height there:

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How about the players character sinking when there rig is R6?
Like this problem in the link https://www.reddit.com/r/ROBLOXStudio/comments/o9vinl/character_keep_sinking/