I have an animated armature with a walk cycle that I need to loop smoothly, but when I play through the frames, the animation "jerks" to a stop for a moment when looping from the last frame back to the first. In other words, there's a discontinuity in the f-curves between the last frame and the first frame (like with the selected blue curve here):

http://blenderartists.org/forum/attachment.php?attachmentid=184923&d=1339369911

How do I make Blender make those control points line up automatically for all channels? I'm using Blender 2.58.

Thanks!