Take a partner and a knife and an uncomfortable situation. For example start working from a sitting position when he is standing, Start walking with your back to him, Start with one eye closed, start holding the knife in a hold you dislike, start with your hands in your pockets, Start after half a minute of holding your breath (a very important one), Start with your hands behind your neck or back, Start with him having his hands already on you, Start with one shoe on and one off, Start with your backpack on, Start with a package in your hands.
All of these examples are here to illustrate that we learn to clean out tension and build our intuition rather than a set technique. We are not trained animals. We are free. All you have to do is to realize this.
All the examples are on how you start. Your job is to end it as peacefully as possible with you and your loved ones in one piece. How you get there is less important. Avoid focusing on the way and have the end in mind. That way you will find a way without the limitations of a hard plan.