To master others you must first master yourself and doing so takes honest work. To clean yourself of exesive tension in the body and limbs stand in front of a wall or a thick pole and climb it with your feet hugging it or finding support with them. your hands on the ground are now under the body and must support it. From this position move right and left and up and down (or around the pole) using all your limbs together starting the motion from the body and with your breathing and make sure you do not rely too much on structure (locking joints or twisted connective tissue) and not too much on your muscles. Relax your neck and breath as if this is your natural form and you will find it easier to navigate so. From time to time, relax the body forward and roll. The naturall position of the hands are in front of you where you can see and guide them with your eyes. Work with your head toward the sky and your arms behind you with your feet on the wall or a pole and see how you can relax in this position and become aware of what you can do and feel without the comfort of seeing.
Stand in front of your partner and climb him using your feet till you are in a handstand position. Relax forward and roll. Do this several times and teach yourself to find the tension and points where it works for you to move through with your legs. Next do the same drill with him moving a little. Perhaps a step to the right, a step to the front, and you have to adjust creating your alignment within any second anew.
next have your partner hold your legs with his hands and move you around with the intent of making you fall of your hands. your job is to keep relaxed and mobile sensing your partner with your body and his breath. To add to this drill have a third partner push your arms with his legs (be carefull as it is very easy to break them if you tense up) and again remember to keep safe and breath relax move.