Normal foot motion (both pronation and supination) is a function of hip rotation (referred to as Hip Drive).  Internal hip drive pronates the ipsilateral foot, external hip drive supinates the ipsilateral foot. 
Animated model (Left) demonstrates internal and external rotation of the left hip pronating and supinating the left foot.

Abnormal foot motion: (1) Foot pronation occurring when the ipsilateral hip is externally rotating, (2) Foot supination occurring when the ipsilateral hip is internally rotating.

Ipsilateral = Same Side

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