How to Chaturanga Dandasana

One of the most simple poses in yoga, yet one of the hardest poses for myself to learn was the Chaturanga Dandasana. How does one transition from a plank to upward facing dog? Initially I found myself simply collapsing onto my stomach until I realized it was simply a push up. I find many yoga classes are not clear as to how to do it. This Youtube video is pretty clear and shows 3 variations for different levels!