It's not as impossible as it looks like. Still tricky because there are so many details to think of within such a short period of time, but once you know what common mistakes to avoid it becomes a lot easier.

I found this tutorial very helpful: http://www.youtube.com/watch?v=MNNEhjxg-w0
(except they say to put the foot waist-high; most tutorials say hip-high which I find much easier.)

There are a couple more YT tutorials like this one.