Start by pointing somewhere and noting the natural angle of the wrist and the relaxation in the palm and the backhand. point in different directions and note how your forearm changes angles to keep you aligned and relaxed in this natural movement we all share.
Now slowly and with your breath leading curl your fingers in from the tips to the knuckles but before you start to curl your fingers move the directive of pointing to the knuckles so the palm remains relaxed and engaged (density).
Do this a few times only closing the fingers and keeping the palm and backhand aware and relaxed and in this drill you learn to leave behind excess tension in the making of the fist and its use.
Now that your fist is closed keep pointing with the knuckles and moving the fist from the elbow. This will greatly aid in making the hit a hit 🙂