How can I change two animations smooth between HumanoidWalk and HumanoidIdle ?

The problem is that when it's getting to the HumanoidIdle it's changing also the characters position's. And changing to HumanoidIdle from where they stopped walking.

Also how can I make that the characters will stay at the HumanoidIdle all the time when it's getting to it in the Timeline ? I don't want a loop I want that the characters will stay Idle.

And last how can I control the speed at the time the animations switch ? So the switch between the animation will not be too fast.

In the screenshot I have the two soldiers and the woman:



Then they are walking and near the end it's changing to the HumaonoidIdle:



Then when changing to the HumanoidIdle animation it's also changing the characters position for some reason: It's moving the character to the original start position from they started walking instead make them idle when they stopped walking:



Even if I'm doing something like a transition or how it called between the animation it's just moving pushing back the characters to the original positions: