Poses - How to keep feet in place.

So I am making a dance animation and for a majority of the dance the dancers feet (toes) are in the same spot, but they do slight spins and lots of squatting motions which in order to recreate this in blender I have to adjust the knee and thigh rotations and position. This causes the feet to loose position and if i move them back they don't stay still. It looks like they are shuffling on the ground and is unnatural. Is there a way to set a bone in place at a coordinate so that it doesn't move?

Edit: I do use inverse kinematics to move the legs but I must not be doing it how its intended bc online when I search this issue that's the solution people give. For instance I set the foot to have inverse kinematics with a chain link of 3 so I can just move the foot to bend the leg instead of rotating and transforming all the other points on the leg. But I still am moving the foot away from its origin position to create that bend and then i move the root down or over to get the foot back in place.