For me, it wasn't so much a technique thing, so much as just spending plenty of time with the stones.
I like to get over it a good deal, so the tips of my toes are bisecting it. Arms go on either side, pretty much straight w a slight bend. I've seen guys actually make a fist, squeeze their forearms into the stone, and then release their fists. Most of the weight should be on your forearms, not in your hands.
I feel like once you lap it, it gets substantially less tricky, and more just about having the strength to get it up.