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To start you will need to do a cast. To do a cast, first you need to pull your chest over the bar and your legs need to be in front of you. The picture above is what this should look like.
Then swing your legs back and try to get your body horizontal while having your hands still attached to the bar. The picture above is what this should look like.
Make sure that your hands are gripped to the bar at all times when doing your cast and your back hip circle!