First, we need to learn the movements. Get the movements right.
Then, consciously try to use less strength in moving when trying to achieve each movement. At this stage, you are still moving your body in individual parts using muscle strength, just that you are trying to use less muscle strength to achieve the same movement.
The next stage is to try to move your body as a whole to achieve that same movement. This part is about linking your legs to your arms, so that you use the force generated by your legs to move the rest of your body, by relaxing your joints. It is still conscious effort to move your body as a whole using the force generated from the legs. And this is the stage in which you need lots of practice, to make it second nature.
And once it becomes second nature, you will then reach a stage in which, by thinking about the movement, your body will respond automatically to achieve the movement. This is when you are able to use intention to move your body.
For me, it is back to practice...