After an Ankles catch you are hanging upside down in the catcher's arms. Arch your back up into the apron. As you swing back towards your bar, twist your body (the catcher will help) so that when the catcher lets go at the peak, you can grab your bar with your hands.
This trick is very similar to a Legs Return, but from an Ankle catch.
Thanks to Renato, Katalina, Vanessa and the team at Mestre Trapeze Academy for providing videos for this page.