Balance is one way to begin learning body awareness and control.
One way to stay balanced is to create stability, particularly between your point of contact with the earth and your center of gravity. The more stable you are, the less you move, and so the easier it is to keep your center of gravity over your foundation.
Another way to stay balanced is to focus on feeling how your center relates to your foundation. The sooner you feel this relationship changing the sooner you can make adjustments to counter that change.
Part of Learning How to Balance is then learning how to move your center of gravity.
The alphabetical index below includes pages related to balance poses and balance in general, stability and responsiveness.