with steady steps; with one's feet planted on the ground
Idiomatic expression meaning to act in a grounded, steady, or realistic manner. Often used figuratively to describe a sensible, down-to-earth approach.
He always acts with his feet firmly on the ground.
If you think with your feet on the ground, you wouldn't make such an unreasonable plan.
A set phrase combining 足 (foot), 地 (ground), and 付ける (attach). The literal image of planting one's feet on the ground gives rise to the figurative meaning of being steady and realistic.