Read the moment · Set the hands · Circle the feet · Bridge high · Lock out · Run the knees
Before you move — are their hands free or committed to a grip? If not, wait. This escape only works in that window. Trying it at the wrong time telegraphs everything.
When the moment comes: one foot, then the second, then go. Don't circle both at once. Once the second foot lands, bridge immediately — hips straight up as high as you can. At the top, lock the arms out. Don't press. If you're trying to muscle them off, the timing was wrong.
Floating hips mean you're there — run the knees through, get the attachment, and sit up. Guard is your next decision, not your destination.
Robson Moura Guard Drills
Side Control Turn Away → Wrestle Up
Turtle Position Defense