This is a wonderful exercise for hip strength and stability. Start by standing with one leg bent up in the air and try to start with your arms in the air. You are going to "tip" forward and back, trying to do it without touching down. Don't lose your strong neutral spine. Your movement is only coming from your hips. Repeat 5-10 times. Next move to "tipping" side to side 5-10 times. Go slow enough you can keep control. Then move to rotation. Rotate your trunk and pelvis together from side to side 5-10 times. Switch legs and repeat. The goal is you can go through all motions 5-10 times without touching down.