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In a charge, the defensive player has to have established legal garding posistion (both feet inbounds, both feet on the floor, and facing the opponent being guarded), legal guarding posistion can be kept, if the defensive man is not moving toward's the offensive player, and remains inbounds. Any contact to the torso while the defensive man has legal guarding posistion is a charge.
any other contact where the defensive player does not have posistion or if his arms are parallel to the floor, and the contact is made on the arms, is a block
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