Set up seated on the floor, one hand raise to the sky, and the foot of the same side close to your butt. Your other arm is posted out at about 45 degrees behind you (like sitting at the beach or park, but with an arm above your head). Drive your foot into the ground and raise your hips up into a single leg bridge position. Then sweep your extended leg underneath you, placing your knee underneath your hips, your foot, knee and hand of the same side forming a straight line. To return to seated, push the floor down with your hand and opposite foot to lighten the grounded knee. Swing your hips down and extend your leg out. Your butt should land about where your knee was.