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Well, there are two ways to do leg lifts that I know of:
1. Lay on your back and hold your legs six inches above the ground. Then, while keeping your legs straight, move your feet up and down, opposite from each other (one going up, one going down). Lift you feet about a foot from your starting position.
2. Lay on your back and hold your legs straight up- perpendicular to the rest of your body. Push your legs straight up, until your butt comes off the ground. Slowly roll back down to the starting position.
Number 1 is the most common, but number 2 is really good also. Also, it may help if you put your hands on the ground under your butt.
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