One reason for stretching is that it feels good. Another reason is that to improve flexibility.
In either case it helps to feel and control your body while you stretch.
For any muscle that you are stretching (whether doing active stretching or relaxed stretching) work at stabilizing one end to which that muscle attaches.
If you are doing relaxed stretching then work at relaxing the muscle being stretched. For active stretching you can be activating the muscle being stretched, its opposing muscle or both.
In all cases create stability so that you can activate or relax the muscle you are working on.
Ideas for turning balance into a general skill along with two simple exercises for learning how to balance.
Eka Pada Bakasana
the transition from Marichyasana A
controlling tension in the IT Band
(How it helps to stabilize the Hip)
(Lifting the back ribs to improve ribcage awareness and control)
As a yoga teacher, I'm constantly exploring new exercises, new ways of doing yoga poses.
There is no single "right way" of doing a yoga pose. Instead, there are options. And the better you are at "feeling" your body, the better you can get at choosing the right option for your body as it is now.
For any technique, the point of practice is to learn feel it and to control it, so that it can be used without thinking about how to use it.
And that is more or less the approach taken in all of my ebooks and videos. They help you to feel your body and control it so that you can work towards using it effectively in anything that you do.