"Anonymous. You said. Dance the foot prints, and your bodies will be a mess.
Not if you keep your feet under your body."
You should pay more attention to your language, as you've just agreed with me without realizing it.
Keeping your feet under your body is precisely what is necessary, and the only rule you really need for the feet.
The problem is that when people "dance the footprints" or have specific goals for where their feet "should" go, they end up putting their feet elsewhere than under their body.
What they need to do is learn to send their body in the right direction, and then simply keep their feet under it.
This is why good teachers rarely waste time specifying exactly where the feet should go. Instead, they teach their students to use their bodies in such a way that automatically results in feet placed to support the bodies - most of the time without any thought about the foot position!