Changing a Pathfinding Script To Adapt To The Environment - How Is It Done?

Hey guys, I made this pathfinding script. It works, but it's for a bot survival game and when the character moves, I know the bot won't follow it. How can I change this script so that the MoveTo() only runs once, then it resets and does it again?

PFS = game:GetService("PathfindingService")
Bot = script.Parent.Bot
Target = script.Parent.Target.Position
Start = Bot.Torso.Position
PointModel = script.Parent.PointModel
MakePointsTransparent = false

function MakePath(StartPoint, EndPoint)
    NewPath = PFS:ComputeSmoothPathAsync(StartPoint, EndPoint, 512)
    return NewPath
end

Path = MakePath(Start, Target):GetPointCoordinates()

function DoStuff()
    for _,point in pairs(PointModel:GetChildren()) do
        point:Destroy()
    end 

    for _,point in pairs(Path) do
        Part = Instance.new("Part")
        Part.Parent = PointModel
        Part.Anchored = true
        Part.Position = point
        Part.FormFactor = Enum.FormFactor.Custom
        Part.Size = Vector3.new(1,1,1)
        Part.CanCollide = false
        if MakePointsTransparent == true then
            Part.Transparency = 1
        end
    end

    for _,point in pairs(Path) do
        Bot.Humanoid:MoveTo(point)

        repeat
            Distance = (point - Bot.Torso.Position).magnitude
            wait()
            if point.y > 1 + Bot.Torso.Position.y then
                Bot.Humanoid.Jump = true
            end
        until Distance <= 3
    end
end

DoStuff()