Plank With Shoulder Tap and Knee Drive Begin in a plank variation with your feet slightly wider than your hips for added stability. Keeping your torso stable, bring your right hand to your left shoulder, then return your right hand back to the mat. Bring your left hand to your right shoulder and return it to the mat. Next, drive your left knee to your left elbow. Return to the starting position and repeat on the right side. This counts as one rep. Repeat for a total of two reps. Image Source: POPSUGAR Photography / Kyle Hartman