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You first need to develop strength and flexibility in your shoulders. Begin by kicking up on one leg, keeping the "lifted" leg as straight as possible. Once you get used to kicking up, then start putting your legs together at the top of the lift. (You don't have to be in a handstand.) Next, use a wall to kick up to. After practice, you should be able to get both legs to the wall; try to keep your legs and back straight. Once you can kick to a handstand on the wall, use your foot to push away slightly to balance in the handstand. Finally, do your handstand without the wall.

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