how to move a character entity dynamically to tapped location simulating walking animation

I have a usdz model with walking animation in the scene. I will have a tapGesture added to ARView, through which i can get the tapped 2D point, and rayCast it to get the rayCastResult from the 3D scene, now I want to first rotate model in the tapped direction, then move it the destination by playing walking animation on it, the model should face tapped direction only everytime, even after walking is completed it should not change the direction.