I remember learning to take the weight on my arms for hand-stands during the yoga class, it was a pose that always made me want to leave the room.
My teacher would say “Just kick up!”. Of course, eventually I did.
This pose strengthens the arms, shoulders and wrists. Practice this with gentle repetition to gradually increase strength, so as to not strain the wrists etc.
Inversions are not advised through the Iyengar tradition during menstruation as it goes against the flow in the body at that time of the month.