Stand, bend at the hips and place your hands on the ground just in front of your feet.
Slowly shift your weight forward towards your hands, until your feet can come off the ground.
Hinge at the hips to bring your legs up.
Hold the Handstand position for a few seconds, then reverse the motion.
Form tips
A common mistake is to allow the shoulders to close (= reducing the angle at the shoulders and leaning more forward). This makes the exercise, which is already difficult to start with, much harder from a strength perspective (and more similar to a Planche ). So focus on keeping the shoulders as open as possible, to keep your hips, shoulders and hands stacked vertically.