Start by laying on the ground and relaxing. Feel where the ground is touching your body and lift piece by piece off and back on the ground. Have a partner work to pick you up off the ground and both of you work to keep moving and avoid excess tension. This means you don’t work hard or hold your breath trying to actually pick up the dead mass but work with the movement of both bodies to find where you can add to the movement instead of tensing against it. Work with tension for a while to understand what that gives you as your partner taps you where he feels the tension and either a third party or teacher to show where you become fragile for a limb or joint break due to the tension or unnatural extension and keep breathing and moving.
This drill will teach you to keep moving under tension and to accept the ground with less and less fear. There is a boon of knowledge of dynamic direction here free for all who do the work.
Do the work.