When your opponent shoots in for your legs in a wrestling style takedown attempt and you were not able to neutralize the attack with either grips or changing the angle, your last line of defense is the sprawl.
Often the sprawl doesn't get the respect it deserves. Some competitors prefer jumping and spinning at high speed and with great athleticism to get past their opponents attacking arms and try to go straight to the back or at least avoid the takedown by causing a scramble. I can't say that jumping all over an opponent and trying to grab lapels, belts, or ankles in order to score in some super-athletic unpredictable fashion or cause a scramble is bad, but you have to be a significantly better wrestler than your opponent to pull it off consistently. If you go this route a few key points to creating and winning scrambles would be to keep your hips up/underneath you, capture and keep some control over the far side of your opponent, and attack, attack, attack.
I prefer a more fundamental defense - the sprawl. I want to be able to win scrambles but I want a good sprawl first. Against a weak sprawl, a good wrestler is going to keep his head up, keep his hips underneath him, and drive, drive, drive into finishing the takedown.
Shooting your legs back and dropping your hips to the mat might seem as easy as falling down, but there is quite a bit of skill involved in a good sprawl. There are quite a few details for baseline D - legs back, hips low, hips in, stuff the head down or away, fight hands, work for grips, crossface, etc.. A good sprawl will keep your opponent off your legs/hips and a great sprawl will allow you to control your opponent and go on the offensive yourself.
This video shows a great sprawl drill. Things to watch for - how he continues to push back after the initial sprawl before popping back up to his feet. On the single leg version he gets the "attacked" leg down and back, then that hip, then both hips, and again continues to push back before returning to stance.
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