irrevocable trust asset received and then willed to children

I received stocks from an irrevocable trust.  If I sell the stocks now I have been advised that they would not have a stepped up stock basis.  If I never sell the  stocks received from the trust, then will the stocks that are now in my revocable trust to my children, when I pass and my children inherit the stocks, will they be taxed on a stepped up basis?  The stock was transferred from the trust to my brokerage account.