Proper yoga form takes years of practice and mental conditioning. To become an expert, you need to practice under a seasoned yogi. Only after years of proper training can you experience the famous sense of center that yoga promotes.
On your journey to this goal, you may end up looking like these people in the following video.
They will obviously need a little more practice. Yoga is complex, and it definitely takes time to master! Learn the basics first before taking on the more advanced poses.