Start in an upright plank position. Bring your right leg to the outside of your left hand. Tuck your left foot underneath your right knee as you lift up your left hand. Place weight on your left foot and kick your right leg out. Switch leg positions and hand positions by kicking the left leg out in front, creating a sweeping motion around the right foot as you lean to the left. Put your weight on your left foot and take a large step back with the right, while putting both your hands on the floor and returning to your starting plank.