This pose is called the Downward Dog.
Begin by getting on all fours with your knees under your hips and your hands under your shoulder.
Move your hands a few inches forward and spread your fingers wide. Actually press your palms into the mat.
Slowly lift your hips toward the ceiling, bringing your body into an inverted V. Move your shoulder away from the ears. Your knees should be slightly bent and your feet hip-width apart.
Hold the pose for three full breaths.
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(Pic from Fitness Magazine)