How we walk

The gait cycle begins when the heel of 1 foot contacts the ground and ends when the heel of the same foot contacts the ground again. This means one gait cycle is 2 steps, a step by the right foot and a step by the left foot.
Each gait cycle has 2 phases. End of each phase is the beginning of the next.
Phases of the gait cycle
Phase
Begin
End
Stance (60% of the gait cycle)
Heel contact of 1 foot
Toe-off of the same foot
Swing (40% of the gait cycle)
Toe-off of 1 foot
Heel contact of the same foot

Stance phase
Component
Begin
End
Heel contact
Heel contact of 1 foot
Toe-off of the opposite foot
Mid-stance
Toe-off of 1 foot
Heel lift of the opposite foot
Active propulsion
Heel lift of 1 foot
Heel contact of the opposite foot
Passive propulsion
Heel contact of 1 foot
Toe-off of the opposite foot