From a seated position extend both legs out in front of you.  Bend the right leg and place the sole of the right foot on the floor outside the left knee.  Try to distribute the weight evenly on both buttocks.
Cradle the bent knee with your left hand or in the crook of the elbow.
Bring your right palm to the ground behind you and support yourself. Keep the spine straight; do NOT lean into the hand.
Inhale, lengthen the spine; exhale, allow the torso to rotate to the right, starting from the lower, middle and then the upper part of the spine.  
Hold. Then exhale, slowly release, and repeat on the other side.