Changing specific animation of a person

I have an object, a person that I’ve animated to walk towards its target. Upon being within melee range I want him to strike the target.

Is there a simple way to phase him into his striking animation without his feet and arms blinking into position? I considered making an animation for it but there are 30 different possible stances he could be in before he is to strike the target.

Try Animation Crossfading

AnimationCrossfade