How to make feet of quadruped touch the ground?

Unity Engine
1

If you have an animal walking animation and you want the feet to touch the ground terrain and not have one foot go through it, is there a simple way of doing this?

Is it a case of adjusting the legs with scripts?

Does Unity come with anything that helps you do this?

2

Inverse kinematics. It is tricky stuff, but perfect for just that kind of stuff.

3

There is not a simple way of doing it. IK is the answer. Unity offers mecanim, the asset store has other ik solutions.