Ok, I do some rigging, so I can give you some tips. It is hard to give exact pointers though, since it really depends on what the exact settings and options are that you used. Are you using one main Root bone to attach everything to? I can't see it in your video, but you need to be able to move and rotate (prefereably even…
It looks like you solved the rotation problem in first video? In the second video, it looks like you want to rotate the entire leg from the base? You can do this by adding a parent to your leg bone, a dummy or a point helper should work pretty well. You'll rotate the helper to control the angle of the leg and move the tip…