Scissors leg serve without jumping?

[Xfimpg]

Having developed left hip problems when normal serving (I'm right-handed), not necessarily all because I land on my left foot, I see a need to change to a scissors-type server, like Yannick Noah for example.
See here at 0:23:

For the astute teachers out there, is there a way of performing the serve without jumping?
I've tried it many times without jumping and I can't seem to get the right foot to pass the left and therefore land on the right foot.

 

[Xfimpg]

Also in this video, at the first serve we see Lendl performing the scissor serve. Just can't see what he's doing to get the right foot forward, unless you have to jump to make it work.

 

[LeeD]

Just weight your left foot, swing the right around as you open up into the service swing. Weight on left foot makes it the pivot foot, right leg swings around landing inside the baseline, while left foot is still behind the baseline. Just a step serve.

 

[Xfimpg]

Just weight your left foot, swing the right around as you open up into the service swing. Weight on left foot makes it the pivot foot, right leg swings around landing inside the baseline, while left foot is still behind the baseline. Just a step serve.

It does look a simple step serve. For some reason my right foot moves up to meet the left and stays there.
It seems I would need a trigger or mental thought to push that right foot through.

 

[Lance L]

I'm thinking that in order to do that you have to be moving forward. Think of it this way, if you left foot doesn't come off the ground, and you are moving into the court, your right foot has to come forward to keep you from falling down.

The possible downside is that you are going to end up inside the court, and will have to quickly get back to behind the baseline. If you like being inside the baseline, then it is a bonus.

 

[LeeD]

EVERY good server ends up inside the court.
The great one's sometimes end up two full steps inside the baseline, almost to mid NML.