Code not working: apply Vlookup on only filtered cell from a table on separate sheet

I am trying to write a Macro that filters on a criteria on "Sheet1" and apply Vlookup on only the filtered cells on "Sheet1" using a lookup table that i name as "Kc" on "Sheet2".

So far my only work around is to copy the filtered cells into another sheet that i name "Sheet3" and do a vlookup using the [Kc] table on "Sheet2", after that I remove filter on "Sheet1" and do a vlookup between "Sheet1" and "Sheet3".

I am new to VBA and this will be really helpful with my work. Thanks

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Can you post up the excel file so we can see how you have everything set up?