The command right (left) step, MARCH is given only when you are at a HALT.

1. At command MARCH, move your right foot 12 inches to the right, then place your left foot beside your right. Repeat this movement at the rate of 120 steps a minute. Keep your legs straight, but not stiff. Hold your arms as at attention.
2. When doing side step. The command squad (platoon, company, detail) is given when heels are together. Take one more step after HALT. Bring your heels together.