Stand on edge of stair with half of the foot on the stairs and heel hanging off. Turn toes in while raising up on toes and slowly lower down past neural. Then turn toes out while raising up on toes and slowly lower down past neural.
Video Link:
Toes in:
https://www.youtube.com/watch?v=r_RsWLfOF1U
Toes out:
https://www.youtube.com/watch?v=cvThgWx5AAs