it was lunge, return, twist, touch foot briefly on the floor, and lunge again. There is nothing wrong with doing this, but I ...

You step back instead of forward. Reverse lunges mainly target your glutes. Twist lunges focus on your core more than the other lunges. Instead of putting your hands on your hips, hold them out in ...

Take your left hand to the floor, right arm to the sky. This is a lunge twist, really pressing into the left hand. You're working on balance here. Come right back up to Warrior I. The back heel is ...