Swing out with your hands close together. At the frontend, lift your legs up and around the bar and hook them on. Keep your head tucked in. Wait until you swing back to the frontend again and release in two movements, the first unfolding your body (letting go of the bar) so your chest rises towards the sky, and the second releasing your legs. At this point, make a full twist before catching wrists.
You can find out more about this trick in my books: