Animate Physics, Character movement problem

I have a character with a capsule collider and its movement is controlled by its rigidbody. I'm using mecanim animator, and I need to set the update mode to "Animate Physics". The problem is that when Animate Physics is selected, and I try to move my character, it only moves in one direction, and then it never stops moving. After doing some research, I have found that Animate Physics doesn't work with non kinematic objects, but My character controller needs to be non kinematic so it moves correctly around the scene. Any ideas about how to acomplish this?