Way #1
I think this is the easier way but its kind of hard to explain.
1) Ok, first step get into the starting position for a six step (all fours facing towards the floor).
2) You can go from a six step right into a 2 step from the 4th step. Its the one where your right leg hits/sweeps around your left leg if your going CCW and the opposite if your going CW.(I try sweep my leg a little when I 6 step).
3) Instead of just sweeping your leg kick hard so that both your feet get into the air. Its kind of hard to explain but your really gonna do a sort of swipe move.
START FROM A CRAB POSITION
1) For CCW. Get in a crab position and stick your right leg out while keeping your left bent. Make sure your right leg is in a position where you can easily kick it to your left leg. Bring your left hand up like off the ground and put all your weight on the right.
2) Kick your right leg towards your left while throwing your left hand to the ground on the right side of your body.
After the second step you should be back in the same position you started in then just get your balance and kick again. Keep trying until you can go in continuous circles; Once you get that down its easy to work on going faster.
You can't just kick your legs and expect to end up back in the starting position. You have to use your hips and twist. It might seem weird the first couple times you try.
Problems
When I first learned a 2 step I would push off the ground with my right foot after i kicked it towards my left. Make sure you keep it smooth and kick your leg parallel to the ground.