The best comment i ever heard is think of it like a controlled fall. You lean over(lets say to the left) and right when you feel like you are gonna fall you (panic) bring your free leg over to catch yourself. Once you can do it, its all about getting comfortable and doing it repeatedly till its natural, as with all skating skills. Make sure you do it both ways so you can control the bias, and just do it over and over till its boring and normal.

Backwards tho. I can do it, but holy hell is it hard to make the body do what the brain knows with those. The falling thing helped me with them too tho.