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.

Easier Steps
Hitch right knee across left leg and slide right foot to right side. Repeat as directed.
Rock right foot to right side (1) Lift and replace left foot in place (&) Return right foot to place making 1/4 turn right (2)
Weight on balls of feet, swivel both heels apart (1) Return heels to place (2)
Similar Steps
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.
Drop to floor on one knee and rise again (counts as directed)
Step forward on the right foot (1) Make a full turn to the LEFT drawing left foot across right shin on the turn while hitching left knee (-) Step forward on left foot (2)