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If you cannot yet execute a perfect pushup, start with modified forms of pushups and build up to the traditional version of a pushup.
Start the exercise ball tuck like you started the exercise ball pike, with your shins resting on top of the exercise ball, your body in a straight, pushup position.
When your partner says "down," immediately drop to the ground and perform a pushup.
Begin stepping your hands forward, pulling your torso over the top of the ball until your shins rest on the center of it, your body in a straight, pushup position.
Check out the following video of expert tips on Pushup Variations.