Tricky
The trick is (as Maria said) to make sure the bike is in gear - saving you the added mission of lurching for the brake lever/pedal, and also to make sure that you put the side stand out, if you can... with the last trick being (after you've picked the beastie up) not to let out an overenthusiastic 'WooHoo!' and promptly stack the bike on its other side!
Thankfully, I have not performed that particular trick (yet! LOL)
Fully extend the handle bars in one direction, as much as you can,(as described in above posts) and use your lower body strength in moving from a squat to an upright position (back straight) rather than your upper body.
There's no real graceful way of doing it (I'm working on it)
There was a really useful demo for the ladies at this year's UK HUBB meet - Grant, didn't you get some photos?
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