Prepare your environment where it is calm and a suitable non-slip surface.
Cup your hands over the front of their fore limbs / chest and gently rock their body weight backwards towards their tail and then back towards the head. This is a very gentle motion and your dog should remain standing square and not step forward/back.
Once your dog is balanced and comfortable, gently apply pressure to the front of their back legs (above the knee joint) and pull backwards. You can also apply pressure to the chest of your dogs if this is easier. When ready, gently weight shift your dog by applying pressure and gently releasing so you are shifting their centre of gravity, by doing this exercise, you are improving core control, balance, limb awareness and isometric muscle contractions helping improve tone of desired muscles.