Begin in a comfortable semi-supine position on the floor.
Allow yourself to be supported by the surface underneath you for a breath or two, releasing into gravity.
Float one knee up toward your torso and grab onto it with your hands. With your arms supporting your folded leg, you can release the muscles of your hips and abdomen.
Move the other knee in generous circles, exploring the range of motion of your hip joint. Allow your breath to move freely. Imagine that you are lubricating the hip joint with breath energy as you explore what feels good.
After a few circles, move to the second side.
Take a few moments at the end of the exercise to feel your breath at rest, sensing any shift in your awareness of your hips, lower back, abdomen, or pelvic floor. Try to take this awareness with you into the next thing you do.