Remember the breath is the source of movement and not the other way around.
A very simple drill to learn to relax and move from the body breath. Start from the up position of the static push up and use your breath and body to jump in the air leaving all four limbs at the same time. Do this with the thumbs toward all four corners and learn to relax the limbs. Now shorten the distance between you and the ground a bit and repeat and do this all the way down and up again. If you feel up to it repeat the drill facing upwards.