You bend your arms as you are straightening your legs but the weight is on your feet when you do that. Then you reach out with straight arms for your next hand hold and keep your arms straight while moving your feet up by bending your legs. I'm not sure if that makes sense but let me see if I can find some good videos.

One of the best things you can do is watch other climbers climb. If you can find some climbers to watch who move gracefully and with ease and lack of effort, those are the ones you want to emulate.