Career
Domestically he was mostly known for sambo, which was a very popular sport in the Soviet Union, albeit with a limited international recognition. Internationally he competed in judo, which has similar rules to sambo. The first Soviet judo team was formed in 1962 from the best sambo competitors, including Stepanov, and in 1963 it showed its strength in Europe and Japan.
After retiring from competitions Stepanov coached sambo and judo at the Moscow Armed Forces Sports Club, for which he competed previously.
In the late 1970s he trained the national women"s judo team