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.

Pelvic roll:
Push your pelvis slightly forward (over your toes), being careful to keep your hips in the neutral position. Gently contract your abdominal and gluteus muscles to increase the slight tuck of the neutral position to a stronger pelvic tuck, then  pull your pelvis back (over your heels), contracting your abdominal muscles to help keep the hips strongly tucked.  Release the pelvic tuck and allow your pelvis to drop only as far as the neutral position. Smooth these four points into a vertical circle (or roll) that runs parallel to the walls at your sides. Your upper body should remain as still and separated as possible.

Cradle step:
From the basic stance, shift your weight to your left leg and take a small non-weighted step forward with your right foot. Your pelvis pushes forward in the neutral position and shifts your weight over your right foot. As you begin the stronger pelvic tuck and the pull back, your hips pull your left leg forward, and as your hips release and drop to neutral position, your left foot sets down to a non-weighted step. Your pelvis pushes forward in the neutral position and shifts your weight over your left foot, then your pelvis tucks and pulls your hips back, pulling your right leg forward. As your hips release, your right foot sets down to a non-weighted step.