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