In NFHS, yes, this is a rule. Rule 6:2:c states:
"The pivot foot main remain in contact with or may push off and drag away from the pitching plate prior to the front foot touching the ground, as long as the pivot foot remains in contact with the ground and within the 24 inch length. Pushing off with the pivot foot from a place other than the pitcher's plate is illegal."
As for the non-pivot foot, Rule 6:2:b:NOTE covers that, stating, "Towards(this is in regard to the step forward or backward with the non-pivot foot) is interpreted as within or partially within the 24-inch length of the pitcher's plate."
Penalty for both: Illegal pitch.
And yes, I have called this many times.
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Scott
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