Simon Says "Will Yoga Help Me Crawl?"

You see I've got the plank position mastered. I can do the downward facing dog. Heck, I even throw in a little Pilates moves. But the idea I have in my mind when I work to getting up on all fours is to move along - forward - usually in pursuit of a toy just out of my reach. Somehow, I haven't found forward gear and I end up in a yoga session. Some help here, please. Maybe when I get with all of the cousins next week in Florida they'll show me the moves.