Kwikee makes two controllers.. one extends teh switch when the door switch is open (I think this is the new style) and the other when the door switch is closed (I think this is the old style)
If you are replacing the step controller (Old with a new style) one way to get the steps to follow the door is to reverse the motor leads. So Out is in and in is out.
Not the best idea because the ignition override would then EXTEND the steps but you can disable that.
I can see a short cutter doing it that way.
This is about the only thing I can think of.
There is also the fact you said "OFF"
There are two swich functions for the Kwikee steps
Old style it was clled POWER and OFF meant.. Well.. OFF
new style it is called OVERRIDE and OFF, means steps follow door
ON means it stays out (or in your case in)
Strongly suggests an old controller replaced with a new one, but still using the old door switch.