Keeping a constant leaning, then control it in each situation is a hard point to reach, it is all about controling all your weight. You need to use both hips with caution. You aren't forced to extend a hip when the other is contracted, if you are landing a foot to make a step and keep both hips extended or at least one and the other relaxed/holded during some frames, your body will raise.
Anyway, don't be too hurry, it's useless. Play for fun, not for performance, this is the interesting way and it is who it will bring you to your goal.