Set Order of Layers for Each Frame

Hello Friends! Hope all is well.
I apologize in advance if my termanology isnt great, as I am still learning the Adobe Ecosystem.
I am creating a Top down Walking Animation for a simple Chibi Like Character.
When The Character takes a step forward with say his right foot&leg, I'd like to set it so that the "right foot&Leg" Layer is behind the "Left foot&leg" Layer. 
But then when the character takes a step forward with the left foot&Leg, I'd like to set it so that the "Left foot&Leg" Layer is behind the "Right foot&leg" Layer.
Hopefully that makes sense. I really appreciate the help! Hopefully this is a feature.

Thanks!