Low bar squat

I prefer to do low bar squat than high bar. There are some checklists. 

Be careful not to let your knees cross your toes. Make sure your upper body is not tilted forward too much. Inhale when descending, exhale when ascending. When you start for the first time, it's a good idea to start with a light weight and gradually increase the weight. 

Low bar squats are effective in strengthening these muscles by putting a lot of load on your hips and commute.