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Most of the time this action is a travel because the player will end the dribble with one foot on the floor. That foot is now the pivot foot. The player will then step with the other foot, but if that first foot is lifted and comes back down (for your second step) before the ball is released on a pass or shot, it is a traveling violation.
Many officials don't make this call on open lay-ups, even though the player does travel.
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