Give it more gas than you need to and let the clutch out more slowly than you think you need to. I have to drive cars short distances (~30 feet) and maneuver them into garages at work, often going from first to reverse and back at least three times. I never know how strong a clutch is going to be, so I rev to 1.5k over idle and do the rest with the clutch. If you can't get it moving without a stall at that RPM, you forgot to release the parking brake, not that I've done that ...(need a shifty eyes smiley)
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