Quadruped robots show potential beyond that of wheeled robots for walking over complex terrain thanks to the bionic leg design, and to take advantage of this, we propose a control framework for a quadruped robot to achieve touch-down in a designated area, aiming to help the robot overcome the challenge in complex terrains. We incorporate a foot placement constraint into a nonlinear model predictive control (MPC) framework guided by global localization, enabling the robot to touch-down in the specified area while maintaining balance. Furthermore, a whole full-body controller is utilized to track the optimized trajectory generated by the MPC. Both simulation and hardware experiments demonstrate the effectiveness of our proposed control framework.