Press your hands and feet to strongly lift up to Full wheel (at no time will the head touch the mat). Draw one knee into your chest. Point the toes. Push through the opposite foot to lengthen the upper leg toward the ceiling.
With a posterior tilt in the pelvis curl your chest open by pressing the bottom tips of the shoulder blades toward the back of the heart. Engage the adductors to maintain balance and squeeze legs to midline prior to taking flight. As you reach, relax the femur bone into the socket of the acetabulum to keep pelvis level.
For details on warming the body and moving into full wheel with appropriate stages, try this sequence on Opening the Front Body.