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In this case you want to slip the stitches from one needle to the empty needle as if to purl. No slip knots required.
Hold the needle with the stitches in your left hand and slip the stitches to to empty needle held in your right hand just as you would purl sts. Don't actually purl the sts, just let them slide from left to right needle. Here's a video
that may help with the circular knitting on two needles.