You will strike the ball at it's Apex, the part of the toss where it kind of floats for a split second before it started coming back down. To do this you want your hand to be tight, so it's has tight as you can comfortably make it. Normally the ball has spin which resists the air, so you want to put as little spin on the ball as possible. If you're not you basically want to let the air in the gym cause the ball to move unpredictably. The general idea of this serve is to be like a knuckle ball if you're familiar with baseball. But it does come down to touch so you need lots of practice. For the floater, i think it's very easy to learn. Now that you know the basics of serving let's discuss the two most common types of serve. Side note when you spike it should be the same way, not across your body, straight down. You don't want it to be like a baseball throw that goes across your body, it should seeing straight down, that way you have more control in it's direction. You also want your arm swinging straight, so it will go down past your hip. When you toss the ball you want to start moving a little forward so you will body is parallel to the back line when you strike, and your momentum will bring you into the court. You should have your dominant arm held up, almost like it's ready to draw back an arrow from a bow string. After you have your stance and toss down it's time to work on actually serving the ball. There's a split second where it kind of hovers before coming down, that's where you want to strike the ball. You want to strike the ball at the top of it's path. You want it as consistent as possible so the ball travels the same path every time. Your dominant foot is about half a step behind that, (not directly behind just that far away from the line) shoulders square to the net. Basically as close as you can get it, without being close to a foot fault. You want your off foot (I'm a righty so my off foot is my left foot) about an inch or two behind the line.
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