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I second JR's point that the only requirements for establishing legal guarding position per rule 4-23-2 are
a The guard must have both feet touching the playing court.
b. The front of the guards's torso must be facing the opponent.
Again, there is NO requirement for the feet to be set in order for a player control foul to occur. For the coach's benefit consider these examples.
a. defender at top of key with lgp and steps straight back towards foul line. While defender is moving dribbler impacts defender in chest with dribblers shoulder. -- player control foul
b. defender is stationary with legal guarding position (lgp) as dribbler rapidly approaches, at last second, before severe impact, defender turns slightly (and shuffles feet) in order to protect self -- player control foul
c. defender is moving along with dribbler toward dribbler's basket when dribbler sharply changes direction and impacts defender in torso - player control foul
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