Shifting weight between the legs

I'm slowly working on glidewalking. It took me ages to really get the "preparing to walk" sequence, especially that tricky step 7 - tightening the buttock, straightening the leg and pressing the heel all in one wave of motion. But after I finally got it and practiced a few "steps" every now and then, it seems that the wave of motion from the buttock down to the heel finds its way to my regular walk. So now I'm trying to move on to the "focusing on the weight-bearing leg" sequence, and I'm having trouble with step 6 (page 182). It seems that many things happen in this step that you don't mention, like the upper body moving forward, the forward legs straightening a little, the hips moving a bit to the side of the forward leg. Is that how it's supposed to go? the first few times I tried this sequence I felt very unstable at this step. I'm still not very comfortable with it, which makes me think I'm probably not doing it right. So my question is: What happens at step 6 of this sequence? What should I pay attention to?