The defender must initially establish a legal guarding position. To establish this position, yes, you need to get both feet on the floor while facing your opponent (the same position coaches instruct players to take regularly).
Reality: Once a defensive player has obtained a legal guarding position, the defensive player may always move to maintain that guarding position and may even have one or both feet off the floor when contact occurs with the offensive player.
A dribbler shall not (1) charge into an opponent who has established a legal guarding position or (2) attempt to dribble between two opponents, or between an opponent and a boundary, ...
If he does not jump straight up and makes contact with his opponent who has taken a legal guarding position, it is an offensive foul.
 See also: Ball, Basket, Guard, Foul, NBA
  
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