In its ideal form, when in Chaturanga Dandasana, the body hovers above the floor, perfectly straight, the arms strengthened by their 90 degree angle. Getting to this position takes time and arm strength, which you gain by doing more and more chaturangas. Know when to say when, however; if your arms and shoulders start to feel fatigued and you are losing the integrity of the pose, switch over to knees, chest, and chin for the rest of the class. Note that vinyasas do not require that you move "up" from Chaturanga to Plank; rather, you move "forward" into Bhujangasana or Urdhva Mukha Svanasana.
Here are the basics of Chaturanga Dandasana:
1. From Plank (either full plank or a modified plank on your knees), bend your arms straight back, your elbows pointing back toward your feet. Keep your upper arms hugging your sides.
2. Lower down toward the floor, stopping when your forearms and upper arms are at a right angle.
3. Keep the whole body very level; you're there!
4. To exit the pose, roll over your toes to come into either Bhujangasana (Cobra) or Urdhva Mukha Svanasana (Upward facing dog.
If you feel that this asana is no longer presenting a challenge for you, practice your plant with one leg lifted and moving into Chaturanga will keeping the leg lifted. Lower the leg to join the other as you move into Upward facing dog.
Okay, that was the short "mini-lesson" on Chaturanga (Four Limbs) Dandasana (Staff or Spine Pose). In the section below, I have listed the exact anatomical process of doing the asana, including the preparation pose (Plank). When you read all about the actions that you are performing as you move through a Chaturanga Dandasana, you'll understand just why the pose is so beneficial to your arms, shoulders, back, core, abdominals, and hamstrings. Keep the integrity of the pose, modify when you feel fatigued, and be patient with yourself as you build your core strength.
Moving into Chaturanga Dandasana, we start from plank, this place of stability and alignment, to safely flow into the pose. The most complex movements in Chaturanga come from our upper body. In order for us to lower, a number of actions must occur. Firstly, we must balance the action of inward and outward rotation at the shoulder joint. The outward rotation of teres major and infraspinatus muscles of the rotator cuff counteract the inward pull of the pectoralis muscles, and latisimus dorsi on the back. By nature of the fact that our palms are on the mat, the pronator muscles of the forearm are activating an inward rotation at the wrist. To maintain neutral rotation at our shoulder joint, our elbows must hug to our sides to engage the triceps, whose natural action is pure flexion and extension at the elbows. It is important that we keep the engagement of the scapular support muscles that we started with in plank pose. This means that we keep an open heart moving forward, broad across the collarbones, and our shoulder tips never drop below our elbows. The subscapularis muscle of the rotator cuff (on the underside of the shoulder blade) is working over time to prevent the arm bone from moving forward out of the shoulder joint. We maintain the contraction of the transversus abdominus throughout Chaturanga, which keeps our body parallel to the floor and avoids any lower back discomfort. Imagine your side body growing long as your heart shines forward and your heels press firmly back. The action of pressing back through the heels maintains length through the legs and deep hip flexor muscle, the psoas, which has attachments in the spine and the legs. The legs support our upper body so that Chaturanga becomes a full body pose, not just an arm balance.