It's easier to kick flip just on flat because it will not hurt as much if you had fallen off down stairs. To kick flip off stairs you'll have to have a lot of speed to actually clear the steps clean and you will have to suppress your legs to absorb the impact so just stick to kick flips on the ground for now.
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First you put both of your feet on the griptape, put them on the truck then ride at a normal speed you would go then pop an ollie as high as you can then you slide your foot up then flick it right then when you board is griptape up put you feet on the board then land it