Darryl documented how he lifts his baby in preparation for a diaper change:
I’ve got a technique (hack) that I don’t recall described anywhere else, and I’ve not seen anyone else do (not that I’ve made a survey or anything), but it makes a big difference when getting ready to change my daughter’s diaper.
Basically, I always want to put the clean diaper under her before taking off the foul one. (AND I have the tub of wipes opened and at the ready before unleashing the Gates of Perdition. But anyway.)
The way I used to lift her legs is to grab both ankles with one hand, putting my index finger in between to keep the ankle bones from rubbing together. Lift, and slide the diaper underneath. Neither of us really liked that technique, she would twist and I had to lift her legs up all the way before her butt left the ground.
However I’ve come across a method that is far more comfortable for me and Baby. My hack is that, I slide the forearm of my 'lifting' arm under one (nearest) knee, and put the fleshy part of my hand under the back of her other (far) knee. That hand now can grab gently between her shin and her knee. Now when I lift my arm, both legs go up at the same time!
She can’t twist much, either accidentally or when changing her in mid-protest. I have much better control, and I still have a free hand to slide the diaper. And her legs stay bent so she's comfortable as well. Everyone happy.