How do I move a bone?

I don’t know if it’s better to move a bone or move parts of the physics asset, but I want to programmatically move a skeletal mesh. I think I’d rather move the physics asset around if possible but am open to suggestions. Maybe I’m just missing something simple but I’m rather lost. The programming documentation doesn’t seem to talk about anything like this and while I did find some reference about individual bone control in the skeleton control page, I’d like to avoid blueprints for this as I need to be able to modify the character on the fly and am more comfortable with code.