Start by stepping out to the left side, and then take your right knee up to waist level and move it out to the right side to touch down.
Repeat the step touch left, leg lift and outward rotation with the right leg so that the right hip is feeling the stretch and mobility -- all while getting the heart rate up. Think about your knee drawing a straight horizontal line at waist level or higher, and then repeat on the other side.
To work harder, stand on the left leg and take your right leg up and over in a back and forth fashion. First with a bent knee, and then later with a straighter leg. This move will strengthen the hip area and also strengthen the standing left leg -- all while providing a balance challenge. Tapping over a bench or stool will help keep you working a bit harder.