How to make movement animations look properly when making one in Blender

[ungodlytomato]

Hello. So I am trying to make my own sneaking animations. I managed to make an idle one, but I don't know how to tackle the next one - slowly walking forward. The issue is that I can't seem to get the steps to match the speed of my character, which results in them sort of sliding instead of walking normally by moving one foot after another and having each stay in their place when supporting the weight of the body. I tried using the Skyrim Behavior Tool but I really don't know what I should look for. Please help me out a bit. Should I just brute force it of sorts until it looks right or is there a set amount of frames that is like the limit? For example right foot has to touch the ground at exactly frame 21 or something.