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.

Hip circle:
Think of a horizontal line across your hip bones (for example, a tabletop). Keeping your upper body lined up above your feet, slide your hips across this horizontal line to the right. Next, bend your knees and push your pelvis slightly forward (over your toes), being careful to keep your pelvis in the neutral position. Slide your hips to the left, then pull your pelvis back, contracting your abdominal muscles to help keep the neutral position of  your pelvis. Smooth these four points into a circle. Your upper body should remain as still and separated as possible.

Hip circle walk:
Make the front half of the circle (hips swoop from left to front to right) while stepping with your right foot and the back half of the circle (hips swoop from right to back to left) while stepping with your left foot. Hold your upper body still and keep the circles horizontal (parallel to the floor).