a.k.a. Half Bound Lord of Fishes Pose. Relax the shoulders and push them away from the ears. Start by bringing your inner thigh to the opposite side belly. Throw your gaze through your back shoulder. Inhale to lengthen and exhale to twist some more. Slowly reach both hands to clasp.
This is significant progress on my Pincha Mayurasana. I noticed that warming up with downward facing dog and dolphin pose helped me a lot advancing to Pincha Mayurasana.
To do the pose, the arms should be parallel with other and make sure to press the ground with both palms and elbows. Always feel that strong back and core while doing the pose. Staring at an object between your hands or at one of your thumbs will help you maintain balance.
First time to attempt – Astravakrasana.