2011 Mazda 2 gear 1 - 2 shift jerks

Hi, I have a 2011 Mazda 2 and a relatively new driver but I am now relatively used to manual. However, I can't get the change from 1 to 2 smooth. I usually see my passenger's head rock back and forth and I can also feel the rocking.

It feels like what the car would feel like if you almost stall it in gear 1 (the bucking back and forth feeling). I have tried lifting the clutch slower, faster and at higher or lower rpms and it's usually always jerky. I usually try to change when the car reaches 20km/h (2500-3000rpm). If moving slowly in a car park, I can seem to get it smooth but not normal driving