Place one fist or hand and one foot on the ground and swing your body back and forth slowly increasing the movement and letting the center start and guide the motion. Change the arm and leg and do the same and see how you can make the beginning of the movement smaller so you relax and let the chain happen rather than pushing through your own tension. Do the same as you walk. It is the basic motion you need to work on. The legs hold you up and the hips guide them in the desired direction. This is best done uphill or up the stairs as you can relax the legs and let the hips guide them forward and than simply glide onto the support without forcing the leg holding the entire body forward. Try it.