You should be able to stand on one leg with little or no sway of your body for at least 20 seconds.  You’d be surprised how many seemingly healthy people cannot do this.

For practice, stand tall with your feet together and hands on your hips.  Lift one leg so your knee is at the height of your hip.  Bend your knee slightly. Hold this position for up to 30 seconds.  Stay tall.  Do at least 3 reps on each side.

To progress this exercise, slowly swing your opposite knee up and down in a controlled fashion. Do 10 slow reps without losing your posture.  A final progression is to perform either of these exercises on an unstable surface like a pillow or airex pad.

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