Rotating Weld or motor6D to a certain position?

I'm trying to rotate a Motor6D to its original position (0,0,0), but is that even possible? I've searched for answers online, but they all only show how the CFrame adds on.

While moving, my characters leg adds on to its CFrame.Angles(): script.Parent.Torso.FlegR.C0 = script.Parent.Torso.FlegR.C0 * CFrame.Angles(0,0.1,0)

When stopping, I want my characters legs to go back to CFrame.Angles(0,0,0).