How to animate stepping leg like in this video?

Unity Engine
1

I’m trying to achieve the same motion as in this short video:

I already got the position calculations right, but I can’t figure out how to animate the stepping motion. Right now, the leg instantly moves to the new target position.
How could I animate it to step to the new location, like in the video?

2

UPDATE: I managed to solve it by moving the target point along a curve