Squat down, place your hands on the ground in front of your and get your knees into your armpits or as close to your armpits as possible (getting on your tiptoes might help).
Slowly shift your weight to your hands and activate your shoulders and core to bring your legs up.
Push more or less on your fingertips to stay balanced on your hands.
Form tips
Keep your fingers spread wide on the ground to create a stable base.