I wonder if doing balance exercises would help with this. I take a dance class once a week, and I always practice balancing on one leg while I lift the other leg at some point during the class. My balance has improved as a result of doing this even just one day a week. The difference isn't dramatic, but every bit helps.
If you want to try this, start standing next to a wall and have one hand on the wall while you lift one leg as high as is comfortable for you to lift it. Just practice using the wall less and less as a support. But don't go away from the wall! in case you need it.
I started out this way and now can lift one leg up fairly high and stand there like that for a count of 5 or 6 seconds without having my hand on the wall. but it took a while to build up to that. Not hard to do, just takes a few minutes.