I fixed it. I wasn't getting the target symble on the RFoot, I must have not selected something right which seems to be a big part of my problems with this. Also that one selected on the pic above wouldn't rotate anything.

I must have done the steps on video 1 and 2 at least 15 times over and even though it drove me crazy, it helped me to memorize the steps and realy understand why each thing does what it does, instead of just going along with it.

Also I gotta say to anyone out there, this is an awesome tutorial.
One thing that would have made it a little easier along the way is if you had the Outliner open the entire time to see exactly what was selected a little more clearly. Other than that, it's perfect.
On to vid 3!