Looking at the back, assuming that the right side is under the left, hook your index finger under the left side, next to the clasp, lift gently, and squeeze gently and quickly with your thumb to the left of your index finger but on top of the strap, and with your middle and ring fingers on the right side. That's probably more difficult to visualize while reading than while writing, but it works. I won't go into a long explanation of why I figured out how to do this, but in high school, undoing friends' bras (through the shirt as the walked by) was a better way than simple ass-slapping to get back for various antics like ball-grabbing and nipple twisting. Damn, I miss my HS friends.
edit: If you're doing this through a shirt and can't hook the index finger under, twist clockwise a bit as you squeeze the clasp.
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