diff --git a/DesktopVRIK/DesktopVRIKSystem.cs b/DesktopVRIK/DesktopVRIKSystem.cs
index 50a0cec..bc11fa0 100644
--- a/DesktopVRIK/DesktopVRIKSystem.cs
+++ b/DesktopVRIK/DesktopVRIKSystem.cs
@@ -124,6 +124,7 @@ internal class DesktopVRIKSystem : MonoBehaviour
     // DesktopVRIK Settings
     public bool Setting_Enabled = true;
     public bool Setting_PlantFeet = true;
+    public bool Setting_ResetFootsteps;
     public float Setting_BodyLeanWeight;
     public float Setting_BodyHeadingLimit;
     public float Setting_PelvisHeadingWeight;
@@ -161,6 +162,8 @@ internal class DesktopVRIKSystem : MonoBehaviour
     // VRIK Calibration Info
     Vector3 _leftKneeNormal;
     Vector3 _rightKneeNormal;
+    Vector3 _initialFootStepLeft;
+    Vector3 _initialFootStepRight;
     float _initialFootDistance;
     float _initialStepThreshold;
     float _initialStepHeight;
@@ -212,8 +215,8 @@ internal class DesktopVRIKSystem : MonoBehaviour
         bool isFlying = movementSystem.flying;
 
         // Why do it myself if VRIK already does the maths
-        Vector3 headLocalPos = avatarIKSolver.spine.headPosition - avatarIKSolver.spine.rootPosition;
-        float upright = 1f + (headLocalPos.y - avatarIKSolver.spine.headHeight);
+        Vector3 headLocalPos = avatarTransform.TransformPoint(avatarIKSolver.spine.headPosition);
+        float upright = 1f + (avatarIKSolver.spine.headHeight - headLocalPos.y);
 
         if (isMoving || isCrouching || isProne || isFlying || !isGrounded)
         {
@@ -310,7 +313,7 @@ internal class DesktopVRIKSystem : MonoBehaviour
         if (avatarVRIK == null) return;
 
         if (isEmotePlaying == _isEmotePlaying) return;
-        
+
         _isEmotePlaying = isEmotePlaying;
 
         if (avatarLookAtIK != null)
@@ -359,6 +362,12 @@ internal class DesktopVRIKSystem : MonoBehaviour
 
         if (_isEmotePlaying) return;
 
+        // Constantly reset footsteps until fully idle
+        if (_locomotionWeightLerp < 0.99f)
+        {
+            ResetFootsteps();
+        }
+
         // Set plant feet
         avatarIKSolver.plantFeet = Setting_PlantFeet;
 
@@ -401,6 +410,19 @@ internal class DesktopVRIKSystem : MonoBehaviour
         _simulatedRootAngle = transform.eulerAngles.y;
     }
 
+    void ResetFootsteps()
+    {
+        if (!Setting_ResetFootsteps) return;
+        IKSolverVR.Footstep footstepLeft = avatarIKSolver.locomotion.footsteps[0];
+        IKSolverVR.Footstep footstepRight = avatarIKSolver.locomotion.footsteps[1];
+        Vector3 globalLeft = movementSystem.transform.TransformPoint(_initialFootStepLeft);
+        Vector3 globalRight = movementSystem.transform.TransformPoint(_initialFootStepRight);
+        footstepLeft.Reset(avatarTransform.rotation, globalLeft, footstepLeft.stepToRot);
+        footstepRight.Reset(avatarTransform.rotation, globalRight, footstepRight.stepToRot);
+        //footstepRight.StepTo(globalRight, avatarTransform.rotation, 100f);
+        //footstepLeft.StepTo(globalLeft, avatarTransform.rotation, 100f);
+    }
+
     void CalibrateDesktopVRIK()
     {
         ScanAvatar();
@@ -514,6 +536,9 @@ internal class DesktopVRIKSystem : MonoBehaviour
         // Calculate initial IK scaling values with IKPose
         VRIKUtils.CalculateInitialIKScaling(avatarVRIK, out _initialFootDistance, out _initialStepThreshold, out _initialStepHeight);
 
+        // Calculate initial Footstep positions
+        VRIKUtils.CalculateInitialFootsteps(avatarVRIK, out _initialFootStepLeft, out _initialFootStepRight);
+
         // Setup HeadIKTarget
         VRIKUtils.SetupHeadIKTarget(avatarVRIK);
 
diff --git a/DesktopVRIK/Integrations/BTKUIAddon.cs b/DesktopVRIK/Integrations/BTKUIAddon.cs
index 33a512c..a0b4ea7 100644
--- a/DesktopVRIK/Integrations/BTKUIAddon.cs
+++ b/DesktopVRIK/Integrations/BTKUIAddon.cs
@@ -26,6 +26,7 @@ public static class BTKUIAddon
         // General Settings
         AddMelonToggle(ref desktopVRIKCategory, DesktopVRIKMod.EntryEnabled);
         AddMelonToggle(ref desktopVRIKCategory, DesktopVRIKMod.EntryPlantFeet);
+        AddMelonToggle(ref desktopVRIKCategory, DesktopVRIKMod.EntryResetFootstepsOnIdle);
 
         // Calibration Settings
         AddMelonToggle(ref desktopVRIKCategory, DesktopVRIKMod.EntryUseVRIKToes);
diff --git a/DesktopVRIK/Main.cs b/DesktopVRIK/Main.cs
index bb82623..109bf76 100644
--- a/DesktopVRIK/Main.cs
+++ b/DesktopVRIK/Main.cs
@@ -18,6 +18,9 @@ public class DesktopVRIKMod : MelonMod
     public static readonly MelonPreferences_Entry<bool> EntryUseVRIKToes =
         CategoryDesktopVRIK.CreateEntry("Use VRIK Toes", false, description: "Determines if VRIK uses humanoid toes for IK solving, which can cause feet to idle behind the avatar.");
 
+    public static readonly MelonPreferences_Entry<bool> EntryResetFootstepsOnIdle =
+        CategoryDesktopVRIK.CreateEntry("Reset Footsteps on Idle", false, description: "Forces Locomotion Footsteps to reset to their initial position on return to idle. This is a bit aggressive.");
+
     public static readonly MelonPreferences_Entry<bool> EntryFindUnmappedToes =
         CategoryDesktopVRIK.CreateEntry("Find Unmapped Toes", false, description: "Determines if DesktopVRIK should look for unmapped toe bones if the humanoid rig does not have any.");
 
@@ -55,6 +58,7 @@ public class DesktopVRIKMod : MelonMod
         // DesktopVRIK Settings
         DesktopVRIKSystem.Instance.Setting_Enabled = EntryEnabled.Value;
         DesktopVRIKSystem.Instance.Setting_PlantFeet = EntryPlantFeet.Value;
+        DesktopVRIKSystem.Instance.Setting_ResetFootsteps = EntryResetFootstepsOnIdle.Value;
 
         DesktopVRIKSystem.Instance.Setting_BodyLeanWeight = Mathf.Clamp01(EntryBodyLeanWeight.Value);
         DesktopVRIKSystem.Instance.Setting_BodyHeadingLimit = Mathf.Clamp(EntryBodyHeadingLimit.Value, 0f, 90f);
diff --git a/DesktopVRIK/VRIKUtils.cs b/DesktopVRIK/VRIKUtils.cs
index 0444c79..32fedd7 100644
--- a/DesktopVRIK/VRIKUtils.cs
+++ b/DesktopVRIK/VRIKUtils.cs
@@ -154,6 +154,12 @@ public static class VRIKUtils
         initialStepHeight = Vector3.Distance(vrik.references.leftFoot.position, vrik.references.leftCalf.position) * 0.2f;
     }
 
+    public static void CalculateInitialFootsteps(VRIK vrik, out Vector3 initialFootstepLeft, out Vector3 initialFootstepRight)
+    {
+        initialFootstepLeft = vrik.references.root.InverseTransformPoint(vrik.references.leftFoot.position);
+        initialFootstepRight = vrik.references.root.InverseTransformPoint(vrik.references.rightFoot.position);
+    }
+
     public static void SetupHeadIKTarget(VRIK vrik)
     {
         // Lazy HeadIKTarget calibration