"Push-pull" steering. Start with your hands holding the wheel at the recommended 10 and 2 o'clock positions, and let's assume a right turn.
Keep a grip on the wheel with your right hand and start the turn by pulling that hand downward. At the same time, slide your left hand down the wheel to somewhere around the 7 or 8 o'clock position. As your right hand reaches 4 or 5 o'clock, you should then be in a position to tighten your grip with your left hand while simultaneously releasing your hold with your right hand.
The movement then continues by pushing upward with your left hand while simultaneously sliding your right hand back up the wheel to around 2 o'clock. By the time your left hand has reached its original 10 o'clock position, you then swap your grip back to your right hand and repeat the process as many times as necessary.
To straighten out after the turn, you then apply the same method in reverse, i.e. to straighten up after a right turn you would be expected to turn the wheel back by the "push pull" method using exactly the same method as if you were making a left turn.