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Then push your heels back down onto the ground, bending your knees slightly.
To go downhill, sit vertically and push your heels down to stop your feet slipping through the stirrups.
Put them to where it's easy for you to push your heels down; you can lengthen them later when you're better at keeping the front of your foot on the treads.
Push your heels back to the ground.
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When you step down, push your heel down first.
If you're going to use a wall, make sure it won't receive a massive hole if you happen to overbalance and push your heel into it.
Now grab on tight with your hands and try to physically push your heel (keeping your leg straight) downward "through" the bench, the bench will provide the necessary resistance, and should prevent any leg motion from occurring.
Pushing your heels into the floor, lift your hips off the floor.
If you have you stirrups to far back, it is going to prevent you from pushing your heels down.
Practice pushing your heels down into the stirrup then standing up in your stirrups while maintaining your heels in that position.
With your leg still bent at 90 degrees, lift one leg, pushing your heel to the ceiling until your thigh is almost parallel to the floor.
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