A few years ago I learned that you balance from your feet.
There were two separate incidents:
1) A class I took in which the teacher explained that you can actually visualize your center of gravity rolling around inside of your feet, like the axle of a wheel, just a half inch above the ground. It's very difficult to fall a half inch above the ground (though I managed it in spectacular fashion at age four). It changed my dancing to feel my feet under me that way. It changed the way I connected the ground, to my feet, to my ankles, to my legs, to my core.