ok this is what i want you to do, turn on onion skinning. draw the contact frame, then draw the next contact frame. look at yourself in the mirror if you need a reference but just study how you look right when your foot hits the ground. don't be afraid to walk like a cartoon. move the second contact frame over so theres an empty frame between them(hit F7 on the first frame), in that one draw what you look like when 1 legs crosses the other. IMPORTANT: don't just draw them frame by frame in order. draw 2 extreme poses then draw the frame in the middle of that then draw the frame in between that. are you listening? I don't think you are and i don't think you read the entire tutorial.
if the first step is frame 1 and the next is 9. then draw the frames in this order
1, 9, 5, 3, 7, 2, 4, 6, 8