Step 9: Jump and Drop.
Stand upon the ledge and then jump out not up. This is what I mean: Courtesy of Wikipedia
When you land you should land on the balls of your feet and you then bend your knees down.
However. You should not bend your knees much past 90 degrees and generally your body should be on a slight angle. We do this so then we do not lose momentum after vaulting/ dropping off an object.
You can also use your hands to 'break the fall' and to allow yourself to make up for any lost momentum. I personally like to bring my hands to the ground between my legs, kinda like a spider or whatever.
This PDF explains Landings well!