Donkey kicks are a great exercise to get you used to being on your hands and accustomed to having your hips directly over your shoulders — even if it's for a split second. Practice this a couple of times a week, and you'll eventually feel comfortable enough to hold your feet up there.
When you're practicing this, focus on getting your hips over your shoulders; your feet will naturally follow. Dig your palms into the floor and grip with your fingertips. You'll build up the strength to hold your bodyweight on your hands and wrists.
Even if your hops are small at first, that's OK. Try to take 10 hops at a time, and practice this a couple of times a week.