Action of lifting the foot (5)
I believe the answer is:
theft
'action' is the definition.
(I have seen 'Action of stealing ' mean 'theft' so perhaps 'action' could also mean 'theft')
'lifting the foot' is the wordplay.
'lifting' says to put letters next to each other.
'foot' becomes 'ft' (abbreviation).
'the'+'ft' is 'THEFT'.
'of' is the link.
(Other definitions for theft that I've seen before include "Pilfering" , "Burglary" , "Dishonest taking of others' property" , "Taking of another's property" , "Crime of stealing" .)