1) Begin with your hands and knees on the mat. Lower the top of your head to the floor so it's in front of your hands. You'll know your head is in the right position because your elbows will be directly over your wrists and you'll be able to see your hands. Your head and both palms will form the points of an equilateral triangle.
2) Once your head and hands feel stable, straighten both legs and walk your feet towards your face as far as you can.
3) Shift your hips over your shoulders, and keep your hands planted firmly on the mat. Practice doing Tripod Balance, by resting your knees on your triceps. Stay here or work on lifting both legs up into the air coming into Tripod Headstand. Keep your legs together and point your toes.
4) Hold this pose for a few breaths. Then slowly lower your feet to the floor.