Eric Roberts shows three fixes for Bulgarian split squats: start with your foot already on the bench, keep it flat rather than on your toes, and lean forward slightly while moving down and back instead of straight down.
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If you are doing this exercise and no matter what, even if you watch every single technique video, you still can't get it right, then try these 3 things. It just might help. Number 1, instead of trying to start from the top and not having balance, just put your foot on the bench and start from the bottom. This way you can figure out where your foot feels most comfortable, and then you can start the movement from there. Number 2, when you put your foot on the bench, do not go on your toes. Instead, lay your foot flat. And you could even try this cool hack where you move the bottom of the bench up and you move the long part of the bench up so you can actually put your foot in the crevice of that. And point number 3, I don't want you to think about going straight up and down. Instead, I want you to slightly lean your torso forward and then think about you're going down and back and then up and forward.