How to climb stairs / slopes with Mecanim?

Mecanim Humanoid system is great and easy to use indeed. But I have no idea how to make a bipedal character climb stairs.

If I adjust the stair height properly, I can somehow cheat the effect. The main problem is planting the feet at the correct place.

In case of walking / running on slopes, feet don’t plant properly.

Is it possible to use my walk-cycle or run-cycle animation to do this properly? Or, will I have to make new animation for climbing stairs?

I am using capsule collider with Rigidbody instead of Character controller.

Thanks in advance.

Mecanim has similar Inverse Kinematics functionality to the legacy Locomotion System, but it requires Unity Pro.