This is something I use on a daily basis and it completely changed my life. I've became obsessed with relationship with mother Earth.
Firstly, you wanna start off by visualizing how you are releasing roots from the bottom of your feet. Deep down, deep below - all the way to the center of the earth. The catch with this step is, you want to visualize from right part of your head rather than the frontal cortex (forehead), where all garbage (emotions, expectations, fears, traumas) are located.
Secondly, when any kind of visualization is established, you want to say something along these lines - Come mother Earth, help me, ease my burden... give me your shield, clear my head from negative emotions, correct my posture... etc. Anything you might feel like in the moment, feel free to ask your mother for it.
Finally, when you did everything from above you always want to express your gratitude. Something in the line with: Thank you mother, I appreciate you is always enough.
That's about it. This technique completely changed my life and I didn't have to spend so much time outside connecting barefoot when I can connect wherever I am right now. I encourage you to try it out.
Have a beautiful day