How would I begin to create a walking animation through code?

Hi!

In my game, I randomly generate a character which is not in any type of normal Roblox rig. I want this character to move around though, so I got the idea of scripting the animations of it walking and moving through code, as that seems the easiest way to do this. Although if there is an easier way, please inform me. But here's the deal about my skills with this: I know basically nothing about lerp and tween which is what I believe I can use to create smooth animations, so if someone could help me with that or explain how I would use it that would be amazing.

I would just like someone to point me in the right direction, tell me what I could do, or send me a link to a plugin that may be a better option. Any ideas are strongly appreciated! Happy Holidays :)

-GreenGrassGamer2008

(note: this is NOT a request, I would just like someone to point me in the right direction or explain what I could do. Thanks!)