Hang from a bar, with arms fully extended, and lift your legs upwards until your toes are in contact with said bar. A kipping motion may be used for speed and efficiency. The knees do not have to be fully extended at the time of contact.
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CrossFit Coach's Prep Course
The movements page is a breakdown from your workout programming. It is a great tool for analysis, but it does not show you how to effectively design, scale or evaluate your programming. We highly recommend attending the CrossFit Coach's Prep Course to learn how. We attended the course and learned a lot. Check out the Intro To Course video by Chris Spealler and Nicole Caroll.