HOW: Start by positioning yourself with both knees on the ground. Place your hands on the ground underneath your shoulders. Bend your elbow as you shift your weight to one side and as you lower shift your weight to the other side and then back to the starting side like a pendulum.
FEEL: You should feel your chest and shoulder muscles working.
COMPENSATION: Keep your back flat. Make sure to shift to the other side each time you lower your body.