From Yoga Journal:
Step by Step
Sit in Dandasana (Staff Pose). Bend your left knee and place the foot on the floor, with the heel as close to the left sitting bone as possible. Keep the right leg strong and rotated slightly inward, grounding the head of the thighbone into the floor. Press the back of the right heel and the base of the big toe away from the pelvis. Make sure the inner left thigh presses firmly against the left side of the torso.
As a preparation for the full pose, twist your torso to the right and press the back of the left shoulder against the inside of the left knee. Use this leverage to lengthen the left side of the torso along the thigh. Then gently unwind and face forward.
Reach your left arm forward and rotate it inwardly, so the thumb points to the floor and the palm faces out to the left. As you reach the left arm forward, lengthen your torso forward and snuggle the left shin into the armpit. Then on an exhalation, sweep the forearm around the outside of the leg. The left hand will press against the outside of the left thigh or buttock.
With another exhalation, sweep the right arm around behind your back. Clasp the right wrist in the left hand. Exhale and extend your torso forward from the groins, keeping the lower belly long. Lower the front torso as closely as possible to the right leg. Be sure the shoulders don't scrunch up into the ears; draw the shoulders blades actively down your back.
Stay in position for 30 seconds to a minute, then come up as you inhale. Repeat on the other side for the same length of time.
Benefits of Handstand Pose
To move more deeply into the forward bend in this pose, it's helpful for beginning students to sit up high on a bolster or thickly folded blanket. Beginners can also use a strap between the hands if there's some difficulty in clasping the hands behind the back.
Use this pose as a metaphor for tapping into the ray of light that lives within all of us. Use this pose to turn inward and listen to the wisdom that is always waiting, listening, and residing in you.