How to do an underhand serve<br>Get your feet into position. Stand with your non-dominant foot in front with your toes facing forward. Your dominant foot should be in the back with toes pointed slightly out.
Dominant foot determination can be found by considering the dominant hand and probably the dominant eye. 
( z1 possible :ARG1 ( z2 find :ARG1 ( z3 determine :ARG1 ( z4 foot ) :ARG3-of ( z5 dominate ) ) :manner ( z6 consider :ARG1 ( z7 and :op ( z8 hand :ARG0-of ( z9 dominate ) ) :op ( z10 probable :domain ( z11 eye :ARG0-of z9 ) ) ) ) ) )