Natyashastra

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अनयोः समानकरणात् पादचारी प्रयोजयेत् । इत्येतदङ्गजं प्रोक्तं लक्षणं कर्म चैव हि ॥ २८३॥

Because of the similar movements of these two, the foot's gait (pādacārī) should be performed. Thus, the characteristic and action are explained as connected with these limbs.

english translation