Rumba Footwork

Keep pressing inside edge of ball of foot (IEBF) into floor. 

When taking a side step (to left, for example).

1. Left foot starts with IEBF pressing into floor, left heel brushing right ankle, left knee up and crossing in front of right leg.
2. Slide LF to side, keeping full weight on right leg, pressing IEBF into floor
3. When left leg is straight, still with full weight on right leg, place left heel on floor
4. With two straight legs, both heels on floor, pressure through IEBF on both feet, then press out of IEBF of RF to transfer weight to LF
5. Extend RF by continuing to press with IEBF of RF, so that line of ankle breaks, and instep (top of foot, shoelaces) faces forward.
6. Draw RF in, heel leads the rest of the foot, pressure of IEBF of RF on floor maintained, until right heel is brushing left ankle, right knee crossing in front of left leg.

While Cucarachas and Cuban Rocks are traditionally executed with both heels remaining on floor, it is now often seen in competitions, and acceptable, to create the line in step #5 above with the free foot.

Never begin to transfer weight until the stepping leg is straight, with heel on floor.