If you practice any kind of flowing yoga - vinyasa, ashtanga - you'll be doing a lot of chaturangas. Done incorrectly, you could hurt your wrists and seriously injure your shoulders. This is one of those poses I see students do wrong every single day.
The goal is to shift forward enough to get your upper arms parallel to the ground and your forearms perpendicular to the ground. Keep you core and back engaged so your back doesn't dip low, and keep your shoulders above your elbows so your chest stays lifted and you don't put stress on your rotator cuffs.
My favorite trick is using a strap on your upper arms. Check it out and try it out!
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