The key is in setting your rotation off your pop. Get your 3s and 5s so you can do them all tucked up. Come in with your feet should width apart and set your spin a little harder than if you were going to do a spin standing straight up. Bring your legs up to you once you are in the air. (Bring your legs up to you, not your body down to your legs) Practice on a trampoline, or even on the ground so that you can throw a spin and get tucked up without going off axis. Once you have that down, adding the grab isn't too difficult. It just takes practice.