Proper Kicking

OK, I've got the left foot and right leg indices. Trying those out here in betwen cubicles, my left foot "wants" to pivot as I thrust my right foot towards 3. Is that natural, and should I let it?

Yes sir!
 
Cool, my heavy bag has a message for you. it says: "Ouch!".

That's really good to hear. The idea is to aligned the body optimally for the task at hand utilizing essentially, the same strong long muscle groups that you use to stand and jump.
 
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