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.
The server's dominant foot will match the dominant hand. 
( z1 match :ARG1 ( z2 foot :part-of ( z3 server ) :ARG0-of ( z4 dominate ) ) :ARG2 ( z5 hand :ARG0-of ( z6 dominate ) ) )