For counter-clockwise six-steps, start from a push-up position with your legs
spread (this seems kinda silly, but it's the easiest way to explain it, you can
start from any position).
 
1) Lift your RIGHT arm, and move your LEFT leg through so it's in front of
your RIGHT leg.
2) Move your RIGHT leg so that your RIGHT foot is BEHIND the LEFT
foot (your legs will be crossed LEFT over RIGHT).
3) Move your LEFT foot in a small arc so your legs are uncrossed.  At the
same time switch your hands (pick the LEFT one up, and put the RIGHT one
down.
4) Extend your RIGHT leg and sweep it around (wide) in a
counter-clockwise arc so that your LEFT foot ends up covered by your
RIGHT knee joint and your RIGHT foot is almost touching your butt
(NOTE:  Steps 3 and 4 shoud be done in quick succession).
5) Put your LEFT hand back down on the ground, and move your LEFT leg
back to where it was in the push-up position.
6) Move your RIGHT leg back to where it was in the push-up position, and
you find yourself back at the beginning.  Now, go back to step one, and
repeat.
 
That's it. If you want go clockwise, just reverse all the LEFT/RIGHTs.  One
more thing, don't try to do this fast at first.  Go VERY slow to get the
technique down, and then increase your speed gradually.  No matter how fast
you go, if your footwork is sloppy, it's noticable.