To pivot the rear wheel, lean forward, shifting your weight far enough that the rear wheel comes off the ground, much like an endo. Then, when the rear is off the ground, use your body and legs to turn the bike to the desired position. For the front, shift your weight over the rear wheel and pull to the left or right to pivot. There's really not much more to it. Just keep the ol' brakes locked up and lean this way and that. You don't really need to lift the wheels very far off the ground either, just enough that they can swing freely. Note that the farther you want to pivot, the higher you'll need to lift, because the increased travel distance takes more time to complete.