This departure is possible for several positions (Split, Whip, Straddle Whip, Bird's Nest), however it is described below for a Bird's Nest, which is one of the easier options.
As you jump up and off the platform (One or Two-Handed Departure), bring your shoulders and head back and your hips up in front of you to put your legs on the bar. Push your butt through in between your hands and quickly make a Bird's Nest position. Making a catch directly from a Trick Departure is known as a 'Half-Time' trick.
You can find out more about this trick in my books:
Thanks to Ryen, Leighanne and Clara for providing the videos for this page.