A pitcher may not come to a complete stop in the set position, restart his motion to come set and come to a second complete stop.
Official Baseball RulesRule 6.02(a)(13)2026 edition
If there is a runner, or runners, it is a balk when the pitcher delivers the pitch from Set Position without coming to a stop.
MLB Umpire Development ManualAuthoritative interpretation
Lastly, if the pitcher comes to a complete stop, starts his motion, then makes a second stop, he shall be charged with a balk. A pitcher is not allowed to set twice. This is referred to as a "double set."