Here is how to do the underarm serve.  Keeping your eye on the ball and the spot you want to serve it to, throw it up in the air and hit it with the opposite hand. This the way you hold your hands to perform the dig.  The dig is when you play the ball below your waist with one or two hands.
The tennis serve could also be used. You must keep your eye on the ball the entire time. The volley is when your hands make contact with the ball.  This is the most common way to play the ball.  The ball is usually hit above your head.
The windmill serve is also know as the hook serve and is rarely used today in volleyball. The sequence you use for the volley is the one shown here.  You must always keep your eyes on the ball.
This here shows the four best targets to serve to.  You can practice by putting mats or chairs on these places. This is how you perform the smash or the spike.  You need to arch your back, gain height, and follow through.

 

 

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