Tension in the hips: Start by sitting on your shins with feet flat on the floor (back of the feet). With the rest of the body you create an inverted L shape. Lower yourself using the knees as pivot points. When your behind rests on the ankles you can lower the upper body more by relaxing the hip and behind muscles. If you stay “flexed” than your weight will tumble you backwards but if you relax you can rest easy backwards. Another way to relax is to breath the tension out. You inhale through the nose bringing the tension from the area and exhaling it out through the mouth. If you squat in front of a wall, facing it or with your back to it, it’s the same thing. (at least for me) Try it with the feet pointing to the sides as in a Ballet Plie and Releve.
The wall and the floor (stone or wood) are good teachers in that they are always there and nevery tire of you. They do not lie like a mat or anything that is out of everyday life.
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