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 and gradually open very slightly. At the very bottom the thumbs should be turned out, elbows just outside of wrists and an active core before resetting to the top.
If anything comes apart on the drive up, reset into a good plank position before beginning again.