It was a small class tonight and I ended up being the most senior student so was the uke for Sidney Sensei's lessons. Although I was my usual un-graceful self I managed to not make too big a fool of myself.
Anyway we started off with shikko or knee walking and then a little hanmi handachi (one perons on their knees and the other standing) and then back to some more shikko exercises. In closing Sensei gave a little talk to explain why we do such and awkward and impractical exercise. And it boiled down to us finding ways to return to our center or our core and our balance.
Once you can lightly walk on your knees it should be easy to carry that into standing practice. And once learned it is much like regular walking in that if you had to try and teach or explain what walking is, you would be hard pressed to form a lesson plan since you just know and don't even think about it.
I couldn't find anything the really matched our practice but the above video give the feel of it.