my exercise...stand in a walk "position", ie. one foot fwd. and one trailing, be sure to track your feet and use proper turn out. Start with your weight over your back foot and then move your body weight fwd. onto your fwd. foot ONLY by pressing (some people call it rolling) through the length of your trailing foot, all the way to your toes (don't forget to let your hip/knee action happen). If you're not used to this it can cause the muscles in your ankles (esp. of the trailing leg) to really work, so stretch out before. Once you are over the fwd. foot then bring your trailing leg through (as you would in a walk) my insrtuctor teaches that the knee should come through first (almost brushing standing leg) then ankle then foot, and don't forget to keep the ieob (inside edge of ball) on the floor throughout. Then repeat the excercise. The idea is to go through the extension very slowly, emphasizing your foot action and your balance. It is an exaggeration of the actual walks but it builds strength and helps you to "feel the floor" through foot awareness. One last tip, get your arms up and out, at least a little bit, don't just keep them hanging down by your side.
Any instructor might elaborate on this...it's an excercise that I made up on my own, but it did help me. It can be so tough to put into words!! Good luck, Mal