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I've been doing that trick for some time, but it's hard to describe.
You really need to see someone do it. The first rotation (under your
elbow) leaves your hand kind of "upside down" when you finish, and
its a bit uncomfortable. But if you always keep you palm as near
upright as you can, and continue the rotation in the same sense, but
this time bringing your palm over your head, you will end up with
your hand in the same position it was at the beginning. I don't
recommend doing it with a full glass the first few times you try. In
fact, you can get the idea if you leave your hand empty, but open
with palm up throughout.