Abstract: The two-body motion in General Relativity can be solved perturbatively in the small mass ratio expansion. Kerr geodesics describe the leading order motion. After a short summary of the classification of polar and radial Kerr geodesic motion, I will consider the inspiral motion of a point particle around the Kerr black hole subjected to the self-force. I will describe its quasi-circular inspiral motion in the radiation timescale expansion. I will describe in parallel the transition-to-merger motion around the last stable circular orbit and prove that it is controlled by the Painlevé transcendental equation of the first kind. I will then prove that one can consistently match the two motions using the method of asymptotically matched expansions.