Crossfade from ragdoll bones to animation

I have been trying to do this for a while now, and failed for a while so I decided to ask: Is there any way to fade from the current state the ragdoll is in to an animation? I tried making an animation from the current ragdoll state but once I did that, I had to also teleport the character controller to where the ragdoll ended up, which caused offset on the animation which looked very weird. Basically, what I want to do is make my character stand up after falling down into a ragdoll. I make him into a ragdoll by using rigidbody.isKinematic, which works pretty good, same with repositioning the character controller, it's just the smoothly standing up part that's bothering me. Sorry if this is confusing :3

PS: Coding done in C#