HOW: Get down on your knees and sit onto your heels if able. Think of tucking your tail between your legs and squeeze your glutes hard. Doing this should naturally begin to thrust your hips forward, but if it hasn't, slowly begin to thrust the air in front of you.
FEEL: You should feel a stretch in the front of both of your thighs. You'll also feel your glutes working hard to perform this motion.
COMPENSATION: If the ground is uncomfortable to use a pad under your knees.