Against a strong opponent, we can only advance cautiously step by step.
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From 《三国演义》 chapter 71 — strategist Fa Zheng advises General Huang Zhong: '可激劝士卒,拔寨前进,步步为营,诱渊来战而擒之' ('urge the troops, pull up camp and advance, entrenching at every step, lure Xiahou Yuan out to be captured'). Still the archetypal military-strategy idiom.
usage
Positive or neutral — suggests prudence, not timidity. Common in business, legal, and diplomatic contexts. Compare the negative 畏首畏尾 ('too scared to advance').