log nested

# no explicit reference to web_steps
# that is, features/authentication/step_definitions/authentication_steps.rb contains:
  Given /^I am not authenticated$/ do
    # do nothing
  end

$ cucumber features/authentication/authentication.feature 
Using the default profile...
Feature: User authentication
  To ensure the safety of the application
  As a would-be player
  I must register as a user

  Scenario: Fail Login                          # features/authentication/authentication.feature:6
    Given I am not authenticated                # features/authentication/step_definitions/authentication_steps.rb:3
    When I go to the homepage                   # features/authentication/authentication.feature:8
    Then I should be redirect to the login form # features/authentication/authentication.feature:9

1 scenario (1 undefined)
3 steps (2 undefined, 1 passed)
0m0.002s

You can implement step definitions for undefined steps with these snippets:

When /^I go to the homepage$/ do
  pending # express the regexp above with the code you wish you had
end

Then /^I should be redirect to the login form$/ do
  pending # express the regexp above with the code you wish you had
end

log nested, 2

# with explicit reference to web_steps in order to try getting rid of the undefined step "When I go to the homepage"
# that is, features/authentication/step_definitions/authentication_steps.rb contains:
  require File.expand_path(File.dirname(__FILE__) + '/../../step_definitions/web_steps')
  
  Given /^I am not authenticated$/ do
    # do nothing
  end

$ cucumber features/authentication/authentication.feature 
Using the default profile...
Feature: User authentication
  To ensure the safety of the application
  As a would-be player
  I must register as a user

  Scenario: Fail Login                          # features/authentication/authentication.feature:6
    Given I am not authenticated                # features/authentication/step_definitions/authentication_steps.rb:3
    When I go to the homepage                   # features/step_definitions/web_steps.rb:22
      String
      "the homepage"
      #<Object:0xc1c98c>
      --
      WORLD:
        Object
        WithinHelpers
        NavigationHelpers
        Cucumber::RbSupport::RbWorld
        Kernel
      undefined method `visit' for #<Object:0xc1c98c> (NoMethodError)
      ./features/step_definitions/web_steps.rb:32:in `/^(?:|I )go to (.+)$/'
      features/authentication/authentication.feature:8:in `When I go to the homepage'
    Then I should be redirect to the login form # features/authentication/authentication.feature:9

Failing Scenarios:
cucumber features/authentication/authentication.feature:6 # Scenario: Fail Login

1 scenario (1 failed)
3 steps (1 failed, 1 undefined, 1 passed)
0m0.003s

You can implement step definitions for undefined steps with these snippets:

Then /^I should be redirect to the login form$/ do
  pending # express the regexp above with the code you wish you had
end

log not nested

$ cucumber features/authentication.feature 
Using the default profile...
Feature: User authentication
  To ensure the safety of the application
  As a would-be player
  I must register as a user

  Scenario: Fail Login                          # features/authentication.feature:6
    Given I am not authenticated                # features/step_definitions/authentication_steps.rb:3
    When I go to the homepage                   # features/step_definitions/web_steps.rb:22
      String
      "the homepage"
      #<Cucumber::Rails::World:0x5bc2978>
      --
      WORLD:
        Cucumber::Rails::World
        WithinHelpers
        NavigationHelpers
        Capybara
        Cucumber::Web::Tableish
        Cucumber::RbSupport::RbWorld
        ActionDispatch::Integration::Runner
        ActiveRecord::TestFixtures
        ActiveSupport::Testing::Pending
        ActiveSupport::Testing::Deprecation
        ActiveSupport::Testing::Assertions
        ActiveSupport::Testing::SetupAndTeardown::ForClassicTestUnit
        ActiveSupport::Callbacks
        ActiveSupport::Testing::SetupAndTeardown
        ActiveSupport::Testing::Default
        Test::Unit::Util::BacktraceFilter
        Test::Unit::Assertions
        Test::Unit::Priority
        Test::Unit::NotificationHandler
        Test::Unit::TestCaseNotificationSupport
        Test::Unit::OmissionHandler
        Test::Unit::TestCaseOmissionSupport
        Test::Unit::PendingHandler
        Test::Unit::TestCasePendingSupport
        Test::Unit::FailureHandler
        Test::Unit::ErrorHandler
        Test::Unit::ExceptionHandler
        Test::Unit::Fixture
        Test::Unit::Attribute
        InstanceExecHelper
        JSON::Ext::Generator::GeneratorMethods::Object
        ActiveSupport::Dependencies::Loadable
        Arel::Sql::ObjectExtensions
        Arel::ObjectExtensions
        Kernel
    Then I should be redirect to the login form # features/authentication.feature:9

1 scenario (1 undefined)
3 steps (1 undefined, 2 passed)
0m0.217s

You can implement step definitions for undefined steps with these snippets:

Then /^I should be redirect to the login form$/ do
  pending # express the regexp above with the code you wish you had
end

web_steps.rb

# in each case, features/step_definitions/web_steps.rb contains:

When /^(?:|I )go to (.+)$/ do |page_name|
  announce page_name.class.inspect
  announce page_name.inspect
  announce self.inspect
  announce "--"
  announce "WORLD:\n  #{self.class}"
  world = self
  (class << self; self; end).instance_eval do
    world.announce "  #{included_modules.join("\n  ")}"
  end
  visit path_to(page_name)
end