When first learning the Closed Impetus, the way it is typically executed is that the man will rise up on 2, as opposed to the end of 2. A smoother way to execute this figure has the man delaying any rise until 3. In other words, on 3, the man pushes off the ball of his right foot to go up on the toe of his left foot.
When followed by the reverse pivot, blend it into the preceding step. Be sure that the man's right foot tracks under the body, and that the weight is fully committed to the right foot before the next step.