You can create a new controller (a nurbs cicle if you want. Often called a master control or god control), from there, you will want to ether parent or constrain your root joint controller and both feet controllers to this new controller. you should then be able to rotate this new controller and have everything rotate with it. (you'd often want to add any hand/arm IK controllers to this as well)

(note, It's always a good idea to create a controller for a joint rather then manipulating a joint directly. don't forget to freeze transform after snapping a new controller to the joint it will be controlling).