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
Cross right foot over left (1), Step back on the left foot (&), Present right heel forward (2) Step right in place (&) Repeat pattern leading left.
Step forward on right (1) Lock left foot behind right (&) Step forward on right foot (2)
Step forward on right foot (1)Make 1/4 turn to the left stepping onto left foot (2).
Similar Steps
Lock right ankle behind left (1) Rock ankles forward (2)Rock ankles back (3)Rock ankles forward (4)
Tip head & lean body to right, start straightening head (1) Push hips to right, straighten head up (&)Straighten body while hips remain to right side (2) Bring hips back to place (&)
AKA - Fancy feetWeight on left heel and right toes, swivel left toes and right heel to left side (1)Return both feet to centre (&)Change weight to opposites heel and toe swivel right (2)Return both feet to centre (&)Repeat pattern as instructed.