Improver

Heel Grind

Taking weight on right heel (toes pointing left) fan toes from left to right.(1) Take weight onto fight foot (2)

Easier Steps
Touching right toe forward bump right hip forward, (!)Bump right hip backward (&)Bump right hip forward taking weight on right foot (2) .Repeat on left.
Rock forward on right foot (1) Rocking back onto left foot making 1/4 turn right (2)
Kick right foot forward (1),Step right foot in place (2) Touch left toe behind (3) Step left foot in place (4)
Similar Steps
Step back on right foot while kicking left foot out (&) Step down on left foot (1)
Touch right toes over left foot (1)Unwind 1/2 turn to right stepping onto right foot (2).
Crossing Shuffle (aka) Samba Cross Cross right foot over left (1)Step left foot to left side (&) Cross right foot over left (2)
Harder Steps
Starting from a standing position.Put hands on the ground and kick legs in the air as if preparing to do a handstand.Let your body lower to the ground by rolling from the chest to the stomach and the hips.When toes touch the floor, push off and push-up with hands again.The momentum creates the worm-like motion.
Lift right heel pushing toe into floor, while sliding left back (1) Anchor left lifting heel, drop right heel & slide back past left (2) Repeat pattern leading left.
Weight on ball of feet swivel heels apart (1) Take right foot behind left while swivelling heels in (&) Take left foot behind right while swivelling heels out again(2)