This is a great exercise for warm-ups, shoulder mobility and stability, and for hypertrophy. I would suggest using the same grip width as you use on your bench press, but it will depend on your range of motion.
Elbows should be beneath the wrists in the front and back position. Press the bar up just high enough to clear your head, rotating from front to back.
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If your arms take over during rows and other pulling exercises, that's a sign you've got big-arms-small-back syndrome. Here's the solution.
They're still your favorite exercises, just tweaked a bit to make them that much more painful - and productive.
Correct those strength imbalances and lift more weight safely. Add this exercise to your program.
If your restricted ankle issues stem from joint mobility problems, foam rolling and stretching won't help. This will.