Simple. To gain awareness on how your body works and works well in different positions you need to explore them with different tools and with calm so you can both process and make use of what you learn.

Start standing upright tensing and relaxing your body one part at a time with your breath setting the pace and not the other way around.
Continue by leaning from the hips forward standing on one leg and having the other walk balk with the body to remain as relaxed as you can and repeating this process again.
Continue by leaning back from the hips keeping your upper body as aligned as possible to keep the breathing relaxed and the head free to move and again the leg in the air is in line with the body as it works the same in walking and you repeat the tensing and relaxing process.
Close your eyes and repeat the process and please mind how your feet both work together even in midair to help you transfer tension out and when you finish the drill keep this knowledge and don’t let your plans get in the way of letting your feet clean and clear you out of rough spots.