This paper addresses the problem faced by animators in creating accurate and realistic walk cycles, as well as coherent interaction with the immediate production environment. Modern software packages often contain modules for implementing dynamics, without the need for specialist programs. In this paper, how to best use these modules to create the desired realistic effects is explored and expanded upon, including driving forces for balanced bipedal motion; friction/slippage between the feet of the model and the surface walked upon. A simple iiwind-upll toy model is used as an example for the demonstration of the process. But the approaches taken could be similarly extended into more complicated models and applications.