Come into an all fours position on an exercise mat with your hands directly under shoulders and your knees directly under hips. Tuck the toes of your right foot under, so you're resting on the ball of your foot. Extend the other leg directly out to the side, so your left foot is parallel to your hips with the sole of that foot firmly on the ground. Gently pushing from your arms, slowly rock your hips back. Then proceed to slowly drive your hips forward, bringing your shoulders over the front of your hands. Repeat for the recommended amount of time (or reps) before changing to the other side.