Abstract: We present a novel technique for editing motion captured animation. Our iterative solver produces physically plausible adaptated animations that satisfy alterations in foot and hand contact placement with the animated character's surroundings. The technique uses a system of particles to represent the poses and mass distribution of the character at sampled frames of the animation. Constraints between the vertices within each frame enforce the skeletal structure, including joint limits. Novel constraints extending over vertices in several frames enforce the aggregate dynamics of the character, as well as features such as joint acceleration smoothness. We demonstrate adaptation of several animations to altered foot and hand placement.