What is the origin of the idiom "step on one's toes" and when to use it?

The phrase "step on one's toes" originates from the physical act of unintentionally treading on someone's foot, causing discomfort. This idiom is used in various contexts or occasions where someone unintentionally oversteps boundaries or encroaches upon another person's territory, responsibilities, or interests. It can be applied in professional settings when one person interferes with another's work or expertise without permission, leading to tension or conflict.