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How does this work?

Aren't you usually furiously kicking/flapping with your legs when swimming?

Are they actually touching the bottom of your feet, ie your soles? Do they have to time it right to not get kicked?

For freestyle (front crawl), it's more of a scissor kick. Your whole body turns with you so it's really easy to touch the sole of the foot heading toward the bottom of the pool. When someone is doing something like breaststroke, they're doing a frog kick which is generally going out and away from the body and then pulling the legs in, you just time it so you touch their feet when they pull their legs in.

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