Do a partial squat (about halfway or so) and explose upward.
While moving upward, bring your legs close to your chest while bending at the knees.
Land softly into a partial squat and repeat.
Form tips
Aim to get your feet as high as possible.
Absord the landing with controlled muscle elongation, instead of stiffening your joints. A good way to think about it is to make as little noise as possible when landing.