You need to lift through your hamstrings (zipper you legs together under your hiney) and use your rotators while maintaining a center of balance over your feet (equally distributed ball of foot to heel).

Tuff to explain without being by you how to work through it...a physical therapist who specializes in dancers will really go a long way for you.  Especially if you are really intent on making yourself better.

I wouldnt worry about getting "perfect" this or that.  What is perfect anyway, superflexibility that makes you look like a circus act, great technique that puts you in the front of the corps, or perfect just for you to dance your own story, and enjoy your passion while getting better.

Really though, if you find a good PT for dancers, you will thank me a million times.  Everything you asked will be answered by this person.  Get a "screening".  It may take 3-4 1 hour visits to get through it all.