If I understand what you want to do and if I understand how the NC works, you must bookmark page 20 if you can go back to it. There is no way to toggle between two pages as you wish to do. The "Keep Reading" icon will take you back to the last page you were on when you "left" the book. That's why it goes back to page 3. That is the last page you were reading once you followed your bookmark back to it. IOW, the User Guide is describing exactly what you are seeing.
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