how to implement IK to increase step length of a walking animation

Hi! I want to increase the step length of my walking animation, basically, let the character take bigger steps. I succeeded in doing this by changing the bone rotation of the knee joint, but I'm looking to implement an IK to make my character look more natural. Any suggestions on how to implement this? I basically need to solve the new position of the foot each time it hit the ground as I manipulated the parameters of the bone rotation before it hits the ground. Thanks!