Start with a basic safety grab, and the main thing is to make sure and bring your feet up to you, rather than reaching all the way down for it. This will help keep you on axis. Once you get a few good safety's down, you can start mixing up the grab and trying some different stuff.
I say try not to worry about the spin too much. Once your 5s are super consistent, just set your spin at the beginning, then just focus on the grab. Your instincts will bring the spin around. Just really work on reaching and tweaking your body for whatever grab you want.