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As an umpire who has both played and coached (after I started to umpire) it is physically impossible to throw the ball with any type of velocity without the pivot foot leaving the pitching plate. Thus, you don't have to have a foot in contact with the pitching plate when the ball is released. You do, however, have to maintain what was explained to me as the "spirit of the rule." This means your pivot foot should remain in contact with the ground when you push and drag away from the pitching plate.
Even when beginning to pitch, your foot cannot maintain contact with the pitching plate without holding back on your rotation/push. Keep the foot in contact with the ground, within the 24 inch lines, and you'll be fine.
Men's FP is a whole different animal altogther.
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