Grab the edge of the chair with hands on either side of hips.
How-to: Start seated in a chair (or on a step, etc.). Grab the edge of the chair with hands on either side of hips. Lift up and out into a hovering position beyond the chair edge. Extend legs until mostly straight. Slowly lower yourself toward the floor until elbows are roughly parallel with shoulders. Push down into your hands to raise back up until your arms are straight again. Repeat.