Hips:  Single-hip circle (vertical)


Begin in basic stance: 
Your feet are positioned directly under your hip bones, parallel to each other, and your weight is centered and distributed evenly over both soles. Your knees are slightly bent (soft), and your pelvis is tucked slightly under (pubic bone toward the navel) in the neutral position. Your ribcage is pulled up out of  your waist; your shoulder blades are pulled together and slightly down the spine. Your neck is long, in extension of your spine.

Single-hip circle (vertical):
To the front: shift your weight to your left leg without changing your body alignment. Bring your right leg straight forward and set the ball of your right foot just in front of  your left toes (but still hip-width apart). Your weight is entirely on your left leg and your left knee is softly bent. Pull your right hip back, then lift it by slightly straightening  your right leg without locking your knee. Avoid arching your back - your pelvis should remain in the neutral position. Push the right hip forward, then drop it by allowing your right knee to bend more. Repeat, smoothing these four positions into a circle parallel to the wall at your side. Your upper body should remain as still and separated as possible.

Of course you can circle to the back, too: push your right hip forward, lift it up, pull it back, and drop it down.