It's been years since I've used A.M. and am not on my old computer,
so what I'm about to say may be a false memory.
In choreography, I think you used to be able to give yourself enough time in the timeline.
Set your frames per second to 15 or so,
make sure auto keyframe is on,
select the bone you want to animate in real time.
hit play and move the bone as the playhead moves along the timeline.
The auto keyframe should record your bone moves.
That should do it.
If I recall correctly. : )
If I'm wrong, I apologize.