Navasana Warm-Up, Then Crow Pose

Preparation:  Start with a core strengthening pose, like Navasana / boat pose.

Then move into downward facing dog.  Walk your feet behind your wrists and line up your knees behind the tops of your triceps. 

Slowly shift forward and place your knees onto your triceps.

Pull up through your core (belly button towards you spine) to help with balance and stability.

Also make sure your fingers are spread wide on your mat for a solid foundation.  

Slowly life your feet off the mat, keeping your gaze forward a foot or so in front of you.  

Voila!  Crow Pose: