It sounds like he just loves to be near you, and by stepping on your feet, he is pretty near.
opakki's advice should work, though I'd choose to counter attack this problem as well. Perhaps train him to do some kind of distance work? If he knows sit, increase distances that he must perform this behavior. Hopefully trainign distance work with tons of positive reinforcement will help him gain confidence even when he isn't directly near you.
Goodluck.