Practice “Bridging”. A bridge is where you lay on your back, place your hands behind you ears on the ground palm down. The legs are bent with the feet close to your hamstrings. Push your stomach up to the ceiling, creating an arch between your hands and feet with your torso bent, stetching the abs. If you lack sufficient flexiblity in the shoulder, balancing on the head can be done if you have a fairly strong neck.
If bridging comes easy to you, try facing away from a wall, and slowly walking your hands down the wall behind you starting from overhead. You should end up in a bridge on the ground, then you can walk your hands back up so that you are standing.