Would it that easy to take your money from your checking account?

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This always troubles me, and I really don't know much how it work though. Okay, if someone get my routing number and account number from my check of the checkbook, he/she can send money to my account. So, would it be possible someone can take money from my account too? That is a bit scary to consider though. So, actually, how is routing number and account number work? Because sometimes I forgot to send a check for my bill payment, they have this option to let me pay through the phone. The operator usually ask me about this routing number and account number to pay for the bill. What if someone knew about this 2 numbers, would they be able to do the same? Scary! Any advise on this topic?