Reverse foot is fine, but I am having a problem with my expressions.

Whenever I add an expression to my pelvisControl node, my feet come off of the ground when I lift one knee up. I have grouped my root to itself and named it pelvisCOntrol, and then when I add a simple trranslate expression, my feet lose their groundedness? Also, what is the best way to attach a primative to a handle so it moves, and controls the handle for easier visibilty? Any help is apreciated. I am deepin the trax editor now I have learned a lot of Maya, and it feels great!