Step 1: from the original six step position, kick your left leg to the right side as if you were going to 3step.
Step 2: Pull your left leg back so that your legs make a V. This should look like step 3 of the 6step.
Step 3: Straighten your right leg and sweep it around your left, when it passes in front of your body you should switch from left hand to your right hand.
(Once you have these steps down you should combine steps two and three. They should happen simultaneously.)
Step 4: Without stopping after step three lower your left hand and use your left leg to force your body upwards into the air, while you are in the air shift your weight onto your left hand while twisting your torso. Extend your left leg forward and you should land at 180degrees of your previous position back into step 1.
Exactly the same as start A, difference is you start at the end of Step 2 and continue.
When you are at step 4 and twisting your torso, open your legs wide instead of keeping them closed. This has two effects, it slows the motion down, but creates a more interesting look (in my opinion). There is a time to use each, and it is best to use both variations in the appropriate places.
In addition there is another variation where you stab your torso. I don't like this variation so I don't really cover it. If you want to learn it just stab while you are twisting your torso.
1. Your sweeping leg should never fully touch the ground during the sweeping motion, it should glide as close to the ground as possible without ever fully touching.
2. Your feet should always be under your backside and only on the toe portion when they are not extended.
3. Your butt should never raise higher than your head while spinning. You want your torso to be about parallel to the ground.