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 figure 8 (forward):
Keeping your upper body lined up above your ankles and your chest facing forwards, twist your right hip back (if you are facing 12 o'clock, your right hip is pointing at 4 o'clock). Slide your right hip diagonally back towards 4 o'clock, then twist the right hip forward to 2 o'clock.  Slide your left hip diagonally back towards 8 o'clock, then twist the left hip forward to 10 o'clock. Repeat, drawing a figure 8 parallel to the ground. Your upper body should remain as still and separated as possible, and your hips should stay in the horizontal plane throughout the movement.

You can also do horizontal figure 8s to the back.

Hip figure 8 (forward) walk:
As your right hip twists and slides back to 4 o'clock, your weight shifts to your right foot. As your right hip twists forward to 2 o'clock, your left foot takes a small step forwards (or backwards). Then your left hip slides diagonally back to 8 o'clock and your weight shifts to the left foot. Your left hip swings forward, the right foot moves forward, and your weight shifts to the right again as the right hip slides diagonally back to 4 o'clock. Hold your upper body still and keep the figure 8s horizontal (parallel to the floor).