How to do the "feet" follow a motion path?

Hi. I rigged a character with ik “handles” on feets. I would like that each foot follows a semi-circular motion when walking (obviously in place). How to?

First you create the curve you want the foot to follow. Than, you can select the IK bone or the bone of the foot and go under the properties Panel to the Bone constrains and add a “Follow Path Node” and select the curve.
Now you can change the offset to move the bone along the path. When you check the dot next to the offset slider, you can animate the Movement of the bone along the Path.

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There are 100’s of walk cycle tutorials online.
Here is one:

Adapt that to whatever walk style you want.
You will see an image in the video of 5 steps in the walk cycle. Google ‘walk cycle reference’ to get that and many other examples. Drop it into Blender and copy its actions.

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Thank you so much.