Notice the tendency for your eyes to be the center of movement with the head craned forward to see what you're doing. This excess contraction creates tension in the back of your neck, right where many of us feel pain.
Instead, let your neck relax and your head hang down before you come back up.
Also, press into your feet and use the muscles through your entire legs, front and back, to start the movement. Be sure that your tush muscles contract before your low back and that your abdominal muscles are engaged.
It's a very different experience, one of relaxation and strength, rather than the typical one of contraction and tension.
How many times can you build this into your day?