well it might sound stupid, but be sure to be comfortable enough with your spins, like you land them most of the time, and you're not scared to do them any more. Same thing for the grab, you should be able to reach it easily if you want to grab in the spin.
Then, not to lose your balance while spinning and grabbing, don't try to reach the grab as soon as you start spinning. try dissociating the two parts. Wind up for the spin normal, jump just like your normal 3s and 5s, and once you're in the air, go reach for the grab. And it's right, you must get your feet to your hands, not the other way.