You can also control the speed the right foot closes to the left by controlling the rise and fall. Remember that you continue to rise through 2 and do not reach the hieght of your rise until 3. The feet coming under the body should be a result of rise. Example: if you take a weighted object and tye a string to it and then lay the object on the floor. As you pull the string up the object should move to a position underneath your hand and the string. The same happens in rise and fall as you straighten your leg the free leg should come underneath your body at the same speed. I hope that helps