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.[footstep etymology, footstep origin, 英语词源]
"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.