Top left corner under "Edit - Terrain Snap" there is a setting that says "follow terrain", as you said. Also certainly tick the "foot contact" on the characters modify panel, as kungphu said.
Sometimes for this to work you have to move the character a bit, because when you do that iClone will calculate again the XYZ axis with the new data (i.e. the "Follow terrain" button that you clicked). Just a light movement from the XYZ gizmo should work.
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Edited
4 Years Ago by
Lamias