There are many "freestyle" threads from a while back. Do a search.
It was suggested to purchase George Snyder's book on Freestyle and I think it is a good one. There are many websites that talk about the type of workout it is and you may be able to get enough info from those. The book has lots of exercises and a routine to follow.
I have incorporated some of the Cathe DVD's into my rotations - in fact, there are a few rotations on the Rotation forum that are "freestyle" type of rotations. Leaning out the legs is what you would be looking for.
Hopefully some of the other folks here will pitch in as there are quite a few that have done these types of workouts.