Simulated characters offer rich and realistic interactions with users and dynamic environments. They can be thought of as compliant robots in the real world. Hence, for every unique push or perturbation, the character responds equally in a unique and realistic fashion. As the result, the immersion for the user is greatly increased and all the more powerful. This article provides insights on how to make compelling interactions with a a self-balancing bipedal character in Virtual and Augmented Reality settings. It also describes a general method to interface a simulated character with a traditional skeleton, used in modern game engines such as Unity and Unreal Engine, thereby making simulated characters more accessible.