asking help to build six legged of robotic

hello...!

I'm working with pic16f877a to build Six legged of robotic, so I want to control it with RF remote control using Tx & Rx modules 434 MHz with RF800 encoder & decoder. here I'm going to use DC motor and Stepper motor and L293D drivers
_each leg has two Angle, it means stepper motor to move the leg in two directions and DC motor to raise the leg
my q?s R :

1_ can Dc motor causes problems during working with angle, stablish.
2_ can I connect two motors in parallel (DC with other DC motor & step with other step).
3_can any one help me to give me an example to control the motors using mikroC if the input signal is simple just "high" in five input of pic to controlling motors

any help or advice...thank you before.

1 In DC motor latency is present
2 what is purpose of that
3 ...

I mean with to connect two motors in parallel: when I connect the first motor with the outputs of H-bridge, with the same outputs can I connect other motor, so if I make the code to run the first motor in the same time with the second motor

I'm so sorry for my english

Yes, that will work.