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Lie on left side on floor with legs stacked and a rolled-up towel between thighs, propping torso on left elbow so that left forearm is perpendicular to torso. Make it easier: Stagger feet so that side of right foot is on floor in front of left foot for a wider base of support.
Lift hips so that body forms a straight line from head to toe and squeeze towel between thighs. Hold for 1 count, then lower.