How to make particles on peoples feet while walking?

I have a map with some dust on the floor but i don't want it to be just a decoration. I want some particles to appear on peoples feet while they are walking and disappear while they are not walking. I used a script and a local one in the main script but they did not work well because they were coming out of the center of the body. I would appreciate any help. Main one:

game.Players.PlayerAdded:connect(function(player)
    player.CharacterAdded:connect(function(character)
        script.ParticleWalkLocal:Clone().Parent = character
    end)
end)

Local Script:

local FORCE = 5
local UP_VELOCITY = 30
local GRAVITY = 5
local DURATION = 2
local VIEW_DISTANCE = 1000
local SIZE = 9
local INTERVAL = 0.05
local player = game.Players.LocalPlayer
local character = player.Character
local camera = Workspace.CurrentCamera
local mouse = player:GetMouse()

local particleContainer = Instance.new("ScreenGui", player.PlayerGui)
particleContainer.Name = "ParticleContainer"

local particles = {}
local CreateParticle3D
do
    local function PointToScreen(point)
        local f = mouse.ViewSizeY/2 / math.tan(math.rad(camera.FieldOfView/2))
        local p = camera.CoordinateFrame:pointToObjectSpace(point)
        return UDim2.new(0, -p.X*f/p.Z + mouse.ViewSizeX/2, 0, p.Y*f/p.Z + mouse.ViewSizeY/2)
    end
    function CreateParticle3D(position, velocity, lifetime, color, width, specificGravity)
        local mGravity = (specificGravity or 9.81) * 20
        local mGui = Instance.new("Frame", particleContainer)
        local mStartTime = tick()
        mGui.Size = UDim2.new(0, width, 0, width)
        mGui.Position = PointToScreen(position) - UDim2.new(0, width/2, 0, width/2)
        mGui.BorderSizePixel = 0
        mGui.BackgroundColor3 = color or Color3.new(1, 0, 0)
        local self = {
            Position = position;
            Velocity = velocity;
            Transparency = 0;
        }
        local function IsVisible()
            local cameraPos = camera.CoordinateFrame.p
            local vec = self.Position-cameraPos
            if vec.magnitude >= VIEW_DISTANCE then return false end
            return not Workspace:FindPartOnRay(Ray.new(cameraPos, vec))
        end
        function self:Update(dt)
            self.Velocity = self.Velocity + Vector3.new(0, -mGravity * dt, 0)
            self.Position = self.Position + self.Velocity * dt
            if lifetime > 0 and tick()-mStartTime >= lifetime then mGui:Destroy() for i = 1, #particles do if particles[i] == self then particles[i] = nil end end return end
            if IsVisible() then
                mGui.Visible = true
                mGui.Position = PointToScreen(self.Position) - UDim2.new(0, width/2, 0, width/2)
            else
                mGui.Visible = false
            end
        end
        mIndex = #particles + 1
        self:Update(0)
        table.insert(particles, self)
        return self
    end

    Spawn(function()
        local elapsed
        while true do
            elapsed = wait()
            for index, particle in pairs(particles) do
                particle:Update(elapsed or 0.03)
            end
        end
    end)
end

while wait(INTERVAL) do
    local torso = character:FindFirstChild("Torso")
    CreateParticle3D(
        torso.Position,
        Vector3.new(math.random()*2-1, 0, math.random()*2-1).unit * FORCE + Vector3.new(0, math.random()*UP_VELOCITY, 0),
        1,
        torso.Color,
        SIZE,
        GRAVITY
    )
end