My experience in the circus bears this out.

To learn to juggle you have someone tell you what your mind and hands need to do when juggling, and you throw the balls in the direction you know they need to go, and you keep doing it (being corrected as often as you can find a better juggler) until you stop dropping them and can keep your pattern solid indefinitely.

To learn to handstand you get upside down do whatever you can to find out what balancing feels like. You can't feel it unless you're doing it.