As well as you did for your Ik-Handle, your hip joint needs a controller curve too, in order for you to have a clean structure of controllers.
Create a NURBS circle and snap it at the hip joint´s position, parent constraint the hip joint to the circle.
parent your IK-controller (the one that constraints the IK-handle) under the hip controller. This way it will rotate together with the hip, around the hip axes.
Also, to better calculate and control the rotation of the joints, The IK-handle needs a pole vector constraint.
For this, you have to create a curve controller, parent it under the hip controller, snap it to the knee of your leg and push it back a little.
After that, you select this controller (named for example poleVector) shift select the IK-handle and go to constraint/pole vector.
Now you have a controller that controls the knee orientation, and since all the controllers are parented to the hip controller, the whole leg turns around the hip controller.
Check the example file I posted.
