Pop the ball straight up to eye level and let it fall back into the same hand. Practice this until you can consistently throw the ball to the same height and it returns to the same point from where you threw it. When you catch the ball, pause and note the position of your hand. Move it back to the rest position. Work to catch the ball in exactly same position from which you threw it. Watch and make sure the ball is not spinning. Practice this with each hand until you can do it without drifting. The best advice here is to be patient. Although no one will be impressed with this juggling feat, doing this consistently in your sleep is the foundation for the rest of the lessons.
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