I use my balance foot to slow the bike down by sliding it on the wheel, then pulling the bike back with my right hand on the peg, while the left hand grabs the right grip as it comes through, while my foot comes off the tyre and aims for the front right peg once the tyre hits the ground. You can see me do this here...
(I'm the second guy in the clip, with the yellow and black bike) It's a bit quick, but you can slow it down, i think.
(At 12:00 - 12:12 you can see how I get into mine, and out of them, too.)