Bug my player is not attached to the wall when he's climbing

I am trying to create a climbing system from my 3d game, player will be able to climb anything like terrain tree rocks, or whatever. I managed to get the player to climb but unfortunately when he climbs he is not attached to the wall, his hands are in the air close to the wall it's like he is grabbing in the air, and his knees go inside the wall. I tried using IK, and it worked to get the player's hands attached to the wall, but it overrides the animation so the hand is always attached to the wall and doesn't animate
this is the code for the climbing part what am I doing wrong?

Code (CSharp):

1. var vi = Input.GetAxis("Vertical");
2.          var h = Input.GetAxis("Horizontal");
3.          var move = transform.up * vi + transform.right * h;
4.          m_Animator.SetBool("Climb", true);
5.          m_Animator.SetFloat("H", move.y, 0.1f, Time.deltaTime);
6.          m_Animator.SetFloat("V", move.x, 0.1f, Time.deltaTime);
7.          m_Animator.applyRootMotion = true;
8.           rb.velocity = transform.up * vi*0.5f + this.transform.right * h*0.5f ;
9.          Vector3 v = (m_Animator.deltaPosition) / Time.deltaTime;
10.          rb.angularVelocity = Vector3.zero;
11.          transform.rotation = Quaternion.LookRotation(frontWallHit.normal * -10f);
12.          rb.useGravity = false;
13.          pm.m_GroundNormal = Vector3.up;