Here is a Sword Point video on maintaining the power of the legs during footwork. The basic cross step in 16th/17thC. rapier play is called the “Pasada”. While moving in pasada during an engagement the swordsman must maintain a position of power in their stance allowing them to move quickly and decisively. As soon as the swordsman engages his adversary (or acting partner), the legs should be coiled, meaning the swordsman should be in a crouch. This is the same position that gives power and quickness to a linebacker in football, a shortstop in baseball, or a tennis player. If the combatant comes out of his crouch at any time while in fighting distance, they are vulnerable to a counterattack, for they are not ready to move quickly either in offense or defense. Keeping a crouch in the stance while moving in pasada requires the fighter to “float” their upper body along the line of movement. If the shoulders bob up and down then the swordsman is not maintaining the power in the legs. The image is of a cat moving forward, ready to spring on its prey.