To better engage use the tops of your toes rather than the bottoms to balance on.
Once you’re ready to descend, keep your butt and belly squeezed while lowering, don’t let the middle sag whatsoever. As the elbows bend they need to stack over the wrists. At the very bottom the thumbs should be turned out, elbows stacked over wrists and an active core before resetting to the top.
Keep the hands turned out as you drive back up into the starting position. If anything comes apart, reset.