Here are a couple solutions.
A- Animate the 3 cycles.
B-If you have an “in place” walk animation. Cycle 3 times and animate the Root bone forward.
C-If you have a translating cycle. Cycle with offset on the feet and torso (the bones that need to translate forward).
D-The same as C but duplicate the keys and make the GE adjustments. (This is the way I do it most of the time)
If you need have the character stop, just take the cycle up the most relevant spot and then add on the extra animation at the end (ie coming to a stop).
Don’t ever stop experimenting because you will find what works and what doesn’t for certain situations.
Hope that helps.
