Quote:
Originally posted by Blackhawk357
He has to first establish a legal guarding position (both feet on the floor w/in 6 feet).
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Now, if the defender has a legal position, contact becomes the responsibility of the offensive player. It can either be a charge (if the defender is put at a disadvantage) or nothing (if he is not).
Hope this helps a little, I'm sure that others will jump on it if there's a mistake 
Blackhawk
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Legal guarding position is established by having both feet on the floor and facing the opponent. No distance requirement - distance is a factor in closely guarded situations. Anyway it's relevant to torso-to-torso contact with the ball carrier, not to verticality.