Fully funded Emergency fund first. That is 3-6 months equivalent of bills sitting in the bank(this saved our home!) and then consider the mathematics.
If you decide A: Put money on principle payments..depending on your interest rate, you will very likely get more bang for your buck by going this route considering interest rates on savings the banks are dishing out these days are at best 2-3% whereas you could be saving mortgage interest of 5-10% depending on the rate on your loan.
OR
B. Beef up the savings accounts just for security and peace of mind knowing that the money is there if you need it.
Here's my personal take..my "real life story."
We had Emeregency fund fully funded for 6 months. I paid a LOT of principle payments on our home during this time when DH was working and we had that wad of cash in the bank. HOWEVER, when the ice cream turned to poop...we went through that EF in 6 months...but the emergency wasn't quite over....we jumped through hoops to get our mortgage payment every single month and never knew from one minte to the next IF we were going to have it or not. DH was laid off for a year and a half before going back to work. We fell a few months behind. Times were TOUGH...Christmas was Charlie Brown style

which was fine, mind you, just not as we had hoped. Anyway, had we put the money in the bank in savings instead, we would have easily gotten through because I had sent several thousand more into paying on the principle. That money, for our circumstance, would have been better used as payments. But, we made it, and have come out on the other side strong, wiser, and closer for the experience.
This economy is bleak, and getting worse. I know and can quote word for word just about everything Dave would say, and I'm telling you right now...his plan is not the best for these very very lean times. We are stockpiling for harder times even though DH is back to work now, and I am working from home. We are looking at our future, and part of that IS paying our house off, but first comes the other necessities, and our little insurance plan in the form of emergency preparedness for food. Our contingency plan will be soon set up, and we will go back to paying principle payments as large as before, until then, we're getting our ducks, chickens, goats, and everything else...IN A ROW

Once that stuff is established, we'll be right back on the Dave track!
We are also debt free except for the house. We are not currently worried about the other baby steps. We have put our own twist on them. Our savings is in the form of food, should prices skyrocket, we will be just fine. In a sense it IS financial planning.