How do I make a canoe move to its boat markers? Also rotating along the way.

I already had someone try to help me with this and it wasn't working, here's what I had:

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--//functions
function StartCanoe()
	script.Parent.PrimaryPart.BodyPosition.MaxForce = Vector3.new(5000, 5000, 5000)
	script.Parent.PrimaryPart.Anchored = false
end

function StopCanoe()
	script.Parent.PrimaryPart.BodyGyro.CFrame = script.Parent.PrimaryPart.CFrame
	script.Parent.PrimaryPart.BodyPosition.Position = script.Parent.PrimaryPart.Position
end

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--//Main loop

StopCanoe()
wait(1)
StartCanoe()

for i = 1,4 do
	local correctMarker = game.Workspace.BoatMarkers[tostring(i)]
	print("Canoe1 is going to ".. correctMarker.Name)
	script.Parent.Primary:WaitForChild("BodyPosition").Position = correctMarker.Position
	repeat
		wait()
		script.Parent.Primary:WaitForChild("BodyPosition").Position = correctMarker.Position
		script.Parent.PrimaryPart.BodyGyro.CFrame = CFrame.new(script.Parent.PrimaryPart.Position, correctMarker.Position)
	until (script.Parent.PrimaryPart.Position - correctMarker.Position).magnitude <= 30
end
StopCanoe()
script.Parent.PrimaryPart.Anchored = true
wait(180)
StartCanoe()
for i = 5,8 do
	local correctMarker = game.Workspace.BoatMarkers[tostring(i)]
	print("Canoe1 is going to ".. correctMarker.Name)
	script.Parent.Primary:WaitForChild("BodyPosition").Position = correctMarker.Position
	repeat
		wait()
		script.Parent.Primary:WaitForChild("BodyPosition").Position = correctMarker.Position
		script.Parent.PrimaryPart.BodyGyro.CFrame = CFrame.new(script.Parent.PrimaryPart.Position, correctMarker.Position)
	until (script.Parent.PrimaryPart.Position - correctMarker.Position).magnitude <= 30
end

I need the canoe to move to the boat markers that I have, but also rotating so that it isn't just moving plainly. Could someone help me with that? Thanks!