Well, I'm pretty sure I figured it out. Right now I am just tweaking the walkpaths.

Use maxlength to control the foot's vertical position, and the X axis of the foot JointOffset control the horizontal position. So just make sure all your other offsets are correct, and then set those two. After that, just redo the walkpaths because they probably won't work anymore.

I thought you moved the feet with the walkpath...

Heres a file from Build 1 of CC. It has lots of comments to tell about this and that. Not everything is present, but theres a lot of useful info here.

The original Behemoth had this exact problem for a long long time as information on adjusting feet was (and still is) very loosely documented.

Walkpaths ended up being the main culprit, making sure the MaxLength was correct.

Holy crap you guys took a long time to not figure out what you were doing.
WHAT IS HARD ABOUT THIS YOU GUYS SHOULD KNOW LEGS BY NOW IT TOOK YOU A PAGE TO GET NOWHERE!
learn your offsets, jesus.
[/unhelpfulrage]

JointOffset: where the leg is attached (hip joint)
ExtendedOffset: where the foot joint should be in relation to the hip joint when the leg is fully extended.
ContractedOffset: where the foot joint should be in relation to the hip joint when the leg is fully contracted (you should sprite it so this can be quite a small vector)
IdleOffset: not used due to walkpaths always being active.
MaxLength: Used to limit the radius the foot can move inside.
the foot should have the same jointoffset as the atomgroups and be ~the same size.
Your limbpaths will need a lot of editing, otherwise he'll do a crazy foothop. you might also need to up or down the movespeed to get it looking acceptable graphically.
Really? Perhaps, if you don't get it after using the explanations above, but it's pretty straight forward. Everyone get so freaked out when they can't copy offsets straight out of the vanilla stuff..

As a sidenote, sorry for being so pissed throughout this, but come on, its leg offsets.