Confused

[Kelvin green]

I am not sure I can visualize stepping in front and backpedaling at the same time

1) Time and Distance is never a consideration when you are dealing with Player with ball so the two steps you mentioj is irrelevant

2) If the person establishes legal guarding position, Both feet on floor, facing offensive player, (and not closing in)

then the guard can back peddle to maintain position (forget the myth of being set)

3) Nearly all the time if the contact happens in torso area the foul is on the offense.