In your situation, two steps would be illegal.
Standing on both feet, if he lifts the left, R becomes the pivot. Stepping down with L is one step, and he now lifts R. If he returns R to the floor before passing, shooting, or calling a timeout, we have a travel violation.
The two steps can come during a jump stop - the player is in the air, 'hops' on one foot, and is then allowed to 'hop' off of both feet. Also, if the player recieves the ball in mid-air, he can put down L, then R, and get two steps that way.
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