Start at an incline that is challenging. Make sure the elbows are around a 45 degree back towards your sides. Don’t splay them up and forwards.

Lower the incline and keep straight body position and arms back at that same 45 degree angle

Switch to you knees but keeping your body solid and not bent at the hips.

Transition to a full plank position and control you descent and when you chest is at the floor drop you knees to push back up.