Hello Esther. I have two question's. On pg 183 of 8 steps, step 3 says to relax all muscles in the hip area. When I walk I feel tension throughout both phases of walking so my question is how can I relax my hips during the passive phase? Second in the troubleshooting section you talk about the back heel. What would the purpose be of keeping it on the ground for as long as possible ? Thank you for this book and once again for your time.