How to make NPCs walk by themselves?

[Before you start reading, Here's the model if you're too confused: https://web.roblox.com/library/5001846573/Walking-NPC Also, I took ages on this, please mark it as an asnwer PLZ!]

Step 1: Make a group named something like "Walking NPC"

Step 2: Insert 5 parts inside it, or as many points you would like the NPC to walk to. Then, insert a dummy into the model. Put whatever you like on it to make it look cool.

Step 3: Name the parts you inserted in, to: PointA, PointB, PointC, ect.

Step 4: Insert 2 scripts into the dummy, and name them "Animate" and "Walk"

Step 5: Insert this into the animate script:

function waitForChild(parent, childName)
    while true do
        local child = parent:findFirstChild(childName)
        if child then
            return child
        end
        parent.ChildAdded:wait()
    end
end





local Figure = script.Parent
local Torso = waitForChild(Figure, "Torso")
local RightShoulder = waitForChild(Torso, "Right Shoulder")
local LeftShoulder = waitForChild(Torso, "Left Shoulder")
local RightHip = waitForChild(Torso, "Right Hip")
local LeftHip = waitForChild(Torso, "Left Hip")
local Neck = waitForChild(Torso, "Neck")
local Humanoid = waitForChild(Figure, "Humanoid")
local pose = "Standing"

local toolAnim = "None"
local toolAnimTime = 0

local isSeated = false



function onRunning(speed)
    if isSeated then return end

    if speed>0 then
        pose = "Running"
    else
        pose = "Standing"
    end
end

function onDied()
    pose = "Dead"
end

function onJumping()
    isSeated = false
    pose = "Jumping"
end

function onClimbing()
    pose = "Climbing"
end

function onGettingUp()
    pose = "GettingUp"
end

function onFreeFall()
    pose = "FreeFall"
end

function onFallingDown()
    pose = "FallingDown"
end

function onSeated()
    isSeated = true
    pose = "Seated"
    print("Seated")
end



function moveJump()
    RightShoulder.MaxVelocity = 0.5
    LeftShoulder.MaxVelocity = 0.5
    RightShoulder.DesiredAngle = 3.14
    LeftShoulder.DesiredAngle = -3.14
    RightHip.DesiredAngle = 0
    LeftHip.DesiredAngle = 0
end

function moveFreeFall()
    RightShoulder.MaxVelocity = 0.5
    LeftShoulder.MaxVelocity = 0.5
    RightShoulder.DesiredAngle = 1
    LeftShoulder.DesiredAngle = -1
    RightHip.DesiredAngle = 0
    LeftHip.DesiredAngle = 0
end


function moveClimb()
    RightShoulder.MaxVelocity = 0.5
    LeftShoulder.MaxVelocity = 0.5
    RightShoulder.DesiredAngle = -3.14
    LeftShoulder.DesiredAngle = 3.14
    RightHip.DesiredAngle = 0
    LeftHip.DesiredAngle = 0
end

function moveSit()
    print("Move Sit")
    RightShoulder.MaxVelocity = 0.15
    LeftShoulder.MaxVelocity = 0.15
    RightShoulder.DesiredAngle = 3.14 /2
    LeftShoulder.DesiredAngle = -3.14 /2
    RightHip.DesiredAngle = 3.14 /2
    LeftHip.DesiredAngle = -3.14 /2
end

function getTool()

    kidTable = Figure:children()
    if (kidTable ~= nil) then
        numKids = #kidTable
        for i=1,numKids do
            if (kidTable[i].className == "Tool") then return kidTable[i] end
        end
    end

    return nil
end

function getToolAnim(tool)

    c = tool:children()
    for i=1,#c do
        if (c[i].Name == "toolanim" and c[i].className == "StringValue") then
            return c[i]
        end
    end
    return nil
end

function animateTool()

    if (toolAnim == "None") then
        RightShoulder.DesiredAngle = 1.57
        return
    end

    if (toolAnim == "Slash") then
        RightShoulder.MaxVelocity = 0.5
        RightShoulder.DesiredAngle = 0
        return
    end

    if (toolAnim == "Lunge") then
        RightShoulder.MaxVelocity = 0.5
        LeftShoulder.MaxVelocity = 0.5
        RightHip.MaxVelocity = 0.5
        LeftHip.MaxVelocity = 0.5
        RightShoulder.DesiredAngle = 1.57
        LeftShoulder.DesiredAngle = 1.0
        RightHip.DesiredAngle = 1.57
        LeftHip.DesiredAngle = 1.0
        return
    end
end

function move(time)
    local amplitude
    local frequency

    if (pose == "Jumping") then
        moveJump()
        return
    end

    if (pose == "FreeFall") then
        moveFreeFall()
        return
    end

    if (pose == "Climbing") then
        moveClimb()
        return
    end

    if (pose == "Seated") then
        moveSit()
        return
    end


    RightShoulder.MaxVelocity = 0.15
    LeftShoulder.MaxVelocity = 0.15
    if (pose == "Running") then
        amplitude = 1
        frequency = 9
    else
        amplitude = 0.1
        frequency = 1
    end

    desiredAngle = amplitude * math.sin(time*frequency)

    RightShoulder.DesiredAngle = desiredAngle
    LeftShoulder.DesiredAngle = desiredAngle
    RightHip.DesiredAngle = -desiredAngle
    LeftHip.DesiredAngle = -desiredAngle


    local tool = getTool()

    if tool ~= nil then

        animStringValueObject = getToolAnim(tool)

        if animStringValueObject ~= nil then
            toolAnim = animStringValueObject.Value

            animStringValueObject.Parent = nil
            toolAnimTime = time + .3
        end

        if time > toolAnimTime then
            toolAnimTime = 0
            toolAnim = "None"
        end

        animateTool()


    else
        toolAnim = "None"
        toolAnimTime = 0
    end
end




Humanoid.Died:connect(onDied)
Humanoid.Running:connect(onRunning)
Humanoid.Jumping:connect(onJumping)
Humanoid.Climbing:connect(onClimbing)
Humanoid.GettingUp:connect(onGettingUp)
Humanoid.FreeFalling:connect(onFreeFall)
Humanoid.FallingDown:connect(onFallingDown)
Humanoid.Seated:connect(onSeated)



local nextTime = 0
local runService = game:service("RunService");

while Figure.Parent~=nil do
    time = runService.Stepped:wait()
    if time > nextTime then
        move(time)
        nextTime = time + 0.1
    end
end

Step 6: Insert this into the walk script:

model = script.Parent.Parent
hum = script.Parent.Humanoid
torso = script.Parent.Torso
while true do
    if model.PointA ~= nil then
        a = model.PointA
        hum:MoveTo(a.Position, a)
        repeat
            wait(0.1)
        until (a.Position - torso.Position).magnitude <= 5
    else
        print("No Point A.")
    end
wait(0.1)
    if model.PointB ~= nil then
        b = model.PointB
        hum:MoveTo(b.Position, b)
        repeat
            wait(0.1)
        until (b.Position - torso.Position).magnitude <= 5
    else
        print("No Point B.")
    end
wait(0.1)
    if model.PointC ~= nil then
        c = model.PointC
        hum:MoveTo(c.Position, c)
        repeat
            wait(0.1)
        until (c.Position - torso.Position).magnitude <= 5
    else
        print("No Point C.")
    end
wait(0.1)
    if model.PointD ~= nil then
        d = model.PointD
        hum:MoveTo(d.Position, d)
        repeat
            wait(0.1)
        until (d.Position - torso.Position).magnitude <= 5
    else
        print("No Point D.")
    end
wait(0.1)
    if model.PointE ~= nil then
        e = model.PointE
        hum:MoveTo(e.Position, e)
        repeat
            wait(0.1)
        until (e.Position - torso.Position).magnitude <= 5
    else
        print("No Point E.")
    end
wait(0.1)
end

Your done!