My problem with this was mental. I wanted a quick start so I'd click one pedal in and start off, wait for the crank to come around and try to hit the pedal as it went by. If I missed it was a mess as I wobbled around and tried again. Now I slow down and concentrate on putting my foot in correctly and methodically. Works much better. It may seem that by slowing down to concentrate that you're being inefficient but it's quicker than missing and bashing your shin. Works for me anyway.