There are all kinds of ways to do bilateral stimulation. Walking, dancing, or playing the drum are good examples. Passing a ball back and forth between your hands is bilateral stimulation. But my favorite way to do bilateral stimulation is called The Butterfly Hug.
Cross your arms across your chest. Close your eyes, and then tap twice on each shoulder, simulating the rhythm of a heartbeat.
Tap tap. Tap tap. Tap tap. Tap tap.
It's a hug. It's a heartbeat. It's a drum rhythm. It's bilateral stimulation! It's a great way to shift your nervous system into a regulated state.