Lying on your back, legs together, bent at the knees at 90 degrees, heels hovering above the floor
Smoothly raise your legs until your feet are directly above your pelvis, pause at the top
Slowly lower the feet until the heels are just above the floor
Do not change the angle in the knee during the exercise
Form tips
Keep your back flat against the floor and do not let it arch; arching your back means you need to use an easier variation, or spend some time stretching your hip flexors (with hip extension stretches).