I'm no expert, but I took to it intuitively. Once it was demonstrated to me to be possible, I set about doing it. While it looks like you're setting the stone on a point, you're actually finding three points and setting the stone on its own tripod. Friction between the stones keeps them standing. The stones we used for the class were collected more or less randomly from a pile of rocks removed from the crop fields. Some "feel" better than others, due to their degree of lumpiness, distribution of weight, and so on.

Theres a rock I balance at work, in the same place, every day. If I'm centered, I can balance it right away, if not, I can't do it at all. It's a way I check in with myself.