early 13c., "footprint," from foot (n.) + step (n.). Meaning "a tread or fall of the foot" is first attested 1530s. Figurative expression to follow in (someone's) footsteps is from 1540s.
"to follow or trace the footsteps of," 1560s, from track (n.). Meaning "leave a footprint trail in dirt, mud, etc." is from 1838. Of film and TV cameras, 1959. Related: Tracked; tracking.