Well, there's something called chambering the leg. You need to practice bending that leg, bringing it up towards your chest. Practice ebneing the leg, bring the knee to your chest, and your feet should touch your buttocks. Also, practice balancing on one foot, while in this position. If you feel you lean back to much, than rotate the foor that on the floor. This foot should be positioned so that, it's ina comfortable position, and not twisted towards the front.
There are many drills that can improve your round house kick. Also, for felxibility, and so that you don't lean back so much, practic eyour split. Wamrup with a split before practicing your kick. Also wark your lower back to prevent injury.
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