Start by lying flat on the ground, face up, arms straight behind your head. Contract your abs and lift your torso off the ground, and lift your right leg up at the same time. Reach your left hand to your right foot and lower your leg and torso back down to the ground at the same time, using control. Lift your left leg, torso and right arm off the ground at the same time, reaching your right hand to your left foot. Repeat, alternating sides.