Step 1: Before striking the ball.
Place your ball where you want to strike it from. Stand behind the ball so that you are facing the target that you are aiming at. Now, take about 3 steps straight backwards. If you are right foot dominated, take one step to the left. If you are left foot dominated, take a step to the right.
Step 2: Before striking the ball
On your last stride, you want you non kicking foot to be "planted" right next to the ball. As soon as your non kicking foot hits the ground, your kicking leg should bend at the knee so that you heel almost touches your behind. Lock your ankle so that your foot is flat and forms a straight line with your shin.
I was searching google images and i found this awesome picture that explains everything I said in a few sentences :D.