To steal home in Baseball is 100% completely legal. More than likely, you wouldn't steal home unless it's on a squeeze or it's 2 outs, bases loaded, and there is a full count on the batter. One of the most common, and obvious, situations to steal home, is whenever there is a passed ball... make sure the backstop is large enough to ensure you being safe.
Know your speed!
-Cole.Grossi
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