To steal home in Baseball is 100% completely legal. More than likely, you wouldn't steal home unless it's on a squeeze or it's 2 outs, bases loaded, and there is a full count on the batter. One of the most common, and obvious, situations to steal home, is whenever there is a passed ball... make sure the backstop is large enough to ensure you being safe.
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Stealing is the same thing as a stolen base in baseball/softball. It is when there is a person on 1st, 2nd, or 3rd and they run to the next base while the pitcher is in the middle of their pitch. If the runner advances to the next base without being thrown out by the catcher, then they have stolen that base.
Yes you can steal in softball but you have to wait until the pitcher releases the ball.
yes!
when the pitcher releases the ball from her hand then the runner can come off the bag and either take a lead or steal the next base.
Yes you can. Officially the ball has to reach the batter before the runner can leave the base. Some local leagues adopt the rule that the ball must be caught before the runner can advance.