Henry Cejudo demonstrates the Jiu Jitsu techniques of Penetration and Level Change.
Once your relaxed and alert, you're ready for the penetration step. As you step forward, drive your knee forward as your body goes down into position. Be aware of all the pockets your opponent exposes so you can get inside. Once you establish an open opportunity, go for it by stepping forward as you drop. Lift your your rear foot and move it all the way forward then and set it. You are ready for your take down.
Don't let your feet get too far apart. If needed, continue to adjust the distance between your feet by bringing your back foot closer to the front.
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