Stepped in time with baton (4)
I believe the answer is:
trod
'stepped' is the definition.
('tread' can be a synonym of 'step')
'time with baton' is the wordplay.
'time' becomes 't' (abbreviation).
'with' is a charade indicator (letters next to each other).
'baton' becomes 'rod' (both can mean a stick).
't'+'rod'='TROD'
'in' acts as a link.
(Other definitions for trod that I've seen before include "Walked heavily, put foot down" , "Walked in a specific way" , "Walked upon" , "Crushed (grapes) by foot" , "Pressed (something) down with the feet" .)