We don’t really, it just appears that way when we shift our center of gravity in the opposite direction quickly then counterbalance with our upper body.
[example](https://sites.massey.ac.nz/wp-content/uploads/sites/57/2016/09/Tightrope-1024×697.jpg)
The hips are shifted the opposite direction as the upper body. He only appears to be leaning, but is really shifting his weight over the rope.
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