Over the years I've gone to lower gearing so it has been a long time since I did this. But I recall on a really slow stair step it was more about shifting weight from right to left and back. Rock to your weight to the right to push the pedal down and the left foot comes up then rock your weight to the left...

I do agree that there is an initial lifting up to get out of the saddle and there is some effort to push down when you rock, so maybe rest is not the best word, but it was definitely easier to climb.

John