Have a partner come at you and grab one of your limbs. Remember he is more likely to grab your hands and wrists if you bait him so try and find what works for you. Once you are held move your entire body in the direction he is moving and at the same time move the next lever or joint toward him leaving enough freedom in it so it rotates from the act of walking. You can also place your hand or foot on his grab and further effect his alignment and tension. Once you are closer and your bodies are closer you will be able to work on him to gain your freedom better than if you where wrestling with him on the point where he is concentrated.
An example for this can be sitting on your drunk friends chest and trying to take away his car keys so he will be safe for the night. If he grabs your wrists in resistance simply let him push your wrists and extend his arms while you move your elbows forward and lever his extended elbows and than take away the keys.
Not everything in life is one sided.