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 half-circle:
To the front: think of a horizontal line across your hipbones (for example, a tabletop). Keeping your upper body lined up above your feet and ankles, slide your hips across this horizontal line to the right. Next, bend your knees and push your pelvis slightly forward and to the center (over your toes), being careful to keep your pelvis in the neutral position. Slide your hips around to the left. Reverse direction, smoothing the three points into a half-circle. Your upper body should remain as still and separated as possible.

You can also do the half-circle to the back: slide your hips to the right, then pull your pelvis to the center back, contracting your abdominal muscles to help keep the neutral position of  your pelvis. Slide your hips around to the left and reverse direction.

Hip half-circle walk:
Make one half-circle to the right (hips swoop from left to front to right) while stepping onto your right foot and one half-circle back to the left  (hips swoop from right to front to left) while stepping with your left foot. Keep your upper body as still and separated as possible, and keep the half-circles horizontal (parallel to the floor).