How to Rotate and Translate smoothly an Object between 2 point?

hi . i have this code for above problem. an object that want follow thw way points. #pragma strict

 var waypoint:Transform [];
 internal var  currentWay : int=0;
 var TransformSpeed:float;
 internal var startTime:float;
 var duration:float;
 var time:float;
 function Start () {
     startTime=Time.time;
 }
 
 function Update () {
     
     //transform.Translate(0,TransformSpeed*Time.smoothDeltaTime,0);
     if (this.transform.rotation.z-waypoint[currentWay].transform.rotation.z<0.5 &&
         Vector3.Distance(this.transform.position,waypoint[currentWay].transform.position)<0.5)
         {currentWay++;
         startTime=Time.time;}
     var target:Transform =waypoint[currentWay];    
     transform.rotation=Quaternion.Slerp(
     this.transform.rotation,target.rotation,(Time.time-startTime)/duration);
     transform.position=Vector3.Lerp(
     transform.position,target.position,
     (Time.time-startTime)/duration);
 
  
  }

but the problem is each time object reach to the Way point it stops and then moves again. and it is not smoothly. how can i fix it.