These are some ways to progress to a full bird dog. The beginning position is the same: on all fours, tight core, and neutral spine. In the arms only version, you alternate reaching with each arm. The first legs only version you slide your toe along the ground behind you to stretch your leg out, then slide it back in without changing the position of your spine. If you can do that successfully, try the next option: slide your foot back then lift off the ground slightly. The goal is not the height of the lift; rather, it is the ability to lift your leg (extend your hip) without extending your low back.
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