This is danced in place, but turning first one side, and then the other, to your partner or audience.
For this first tempo, angle your body so that your right shoulder is toward your partner or audience. Keep your attention forwards.
Reverse - turn your left shoulder forwards
I don't know whether per fiancho here means "going sideways" or "turning the body sideways but dancing on the spot". I've taken it to mean the latter; though you could equally dance a cinquepasso going sideways to the left, then another going sideways to the right.
As so often in galliard it's not clear which foot to start on: the first move of a cinquepasso can be seen as "kicking with foot X" or "jumping onto foot Y (while raising foot X)", so the usual principle - start with the left foot - isn't tranparent. As always, the really important principle is alternation: what you do on one side you should repeat on the other.
It's also not clear to me which shoulder should come forward with which foot - either pairing works.
On the spot, cinquepasso with the right side forwards:
Turn to the other side
Katherine Davies, 2016.
The cinque passo (five-step) to the side.
5. Li cinque passi per fiancho.