Balance on your hands while holding your torso parallel to the ground.
One leg is straight out to the back and the other leg is tucked to the chest.
Straighten your back.
Keep the arms straight and the shoulders engaged ( Shoulder depression and Shoulder protraction ).
If using the ground, you can turn your hands to the sides to decrease the pressure on the wrists.
The primary muscles work equally regardless of which leg you extend, so it is not necessary to count the exercise as unilateral: it is enough to alternate the legs with each set.