How character stop push enemy?

Unity Engine
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1

First of all, please forgive me for using a translator because I am not good at English.

Just like that happened to the YouTube link, so I followed the instructions there, but as soon as the character started, it floated in the air.
If the character and the enemy collide in any other way
What is the way to keep it from slipping

Here is link

2

Can you post your code? And screenshots of your components?