Here are some detail techniques:
+ 1st step: is RF back (THT). You have to swivel slightly to R on toe of RF.
+ 2nd step: because of the swiveling action you now could step diag. back LF. (If you don't swivel on the 1st step, it's not quite comfortable to make the 2nd step). No releasing of foot.
+ 3rd step: cross behind, but remember to lower at the end of 3.
Again, no foot will be released from the floor. Try it.