I'm working on a sweater where I had to do this. It's so funny that you asked about it. I'd never done it before, either.
What I do is this.
I lift the stitch below from behind with my right tip. Basically I come up from behind the right leg of the stitch below. I found that it's easiest to just leave the stitch on the right needle, wrap my yarn, then pick up the stitch with my left point and put it over the right point. Then I knit the next stitch from the left needle. Two for one.
If that's not clear enough, I could take a picture.
"Trust the pattern!"
Time flies like an arrow, but fruit flies like a banana.
Hop aboard while we follow the cloud-covered van of knitting harmony, man!! Woooo!! --Hedgehog
IngridKH on Ravelry