Starting from a standing position.Put hands on the ground and kick legs in the air as if preparing to do a handstand.Let your body lower to the ground by rolling from the chest to the stomach and the hips.When toes touch the floor, push off and push-up with hands again.The momentum creates the worm-like motion.

Easier Steps
Flick right heel behing/side/(or as directed)
Weight on right foot drag left foot next to right (counts as directed)
Touch toes of right foot behind left foot (1) Pull body back to make 1/2 turn stepping onto right foot (2) Unwind 1/2 turn to right stepping onto left foot (3)
Similar Steps
Step forward on the right foot (1) Make a full turn to the LEFT drawing left foot across right shin on the turn while hitching left knee (-) Step forward on left foot (2)
Step right forward bending knees into sitting position (1) Push hips forward (&) Push to stomach forward (2)Push chest forward (&)Push head forward (3) Take weight onto right (4)
AKA - Fancy feetWeight on left heel and right toes, swivel left toes and right heel to left side (1)Return both feet to centre (&)Change weight to opposites heel and toe swivel right (2)Return both feet to centre (&)Repeat pattern as instructed.