Click and drag the skeleton in the perspective viewport
If you look at the skeleton you will see a diamond shape in the pelvis - this is the COM or Centre Of Mass.
In order to adjust the biped you need to be in figure mode - which you will find in the Motion panel. Then go to body type > skeleton in order to adjust the biped
You need to make sure that you fill the mesh with the bones of the biped as much as possible and that they fit well.
Footsteps - go to footstep creation > walk > create footsteps at current frame.
To activate the footsteps go to > Create keys for active footsteps.
If you press ? this will activate the walk animation.
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