I'd say one leg at a time is the way to go. After my cardio today, I went back and did some Step-ups with just body weight. Not only is one leg at a time better because it's a lot easier to get a rhythm going, but it seems safer too. You keep the upper foot in the same spot where as if you alternate legs, you have to re-plant the upper foot again each rep, easier to mis-step.
Even with just body weight, I was wobbly using my right leg, which make sense because I'm right handed and my left leg is my "take off" leg when jumping, bowling, etc. So my right leg has some catching up to do.
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