How to get mechanim/rig/avatar feet to follow object

Hi,

Building a bike game, making good progress, now I want to be able to have the human figure's feet/shoes/legs to be able to follow the bike pedals as they move around.. The Human model has a skeleton/mechanim in unity, not sure where to start...is there an option in this mech anim animation component to configure this link? or will hinges be needed? Or can I do this programmatically where the foot object just has the coords as the pedal? pedals do not have any rigidbodies and I am rotating those via code, so maybe I can just get the feet gameobjects and make them follow the pedals?

Any advise would be welcome :)

Kim