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 your hands turned out and drive yourself back to the beginning position. If anything comes apart, reset and start with a solid plank position.