[O2F2]

I've done two at time descending for the longest time until stumbled over another fun way to do this. One at a time, but you let one leg drop free while you pull the other leg forward to hit the next step. Somewhat hard to describe in a manner that makes sense. Think of hitting a drum with sticks. Only works with shallow stairs though. You know it works when your legs just kinda do their own thing and pull you forward. Obligatory don't try this in public warning.