Focus on towing the bar with the arms on the way up, and the arms being the force pulling you down. Wait a bit longer and finish with the legs and hips before the arms initiate that pull down.
Some things to try light with warm ups may be a dip clean followed by a clean from the floor. Focus on finishing and having the arms tow the bar up and pull down as soon as you finish the extension. The goal will be for that feeling of finishing before pulling down carry over to the clean from the ground.