Late to the party, but nevermind ... as others have said, you will fall; there appears to be very strong (albeit anecdotal) evidence that 3 comedy falls is the required minimum when learning clipless

This was certainly my experience (switched to clipless in 2004). Had the requisite 3 falls in the first six weeks or so. Oddly, didn't have the first til about 3 weeks in; thought I was doin' pretty well for an old guy -- pulled gracefully up in front of coffee shop/right foot unclipped ready to step down/unbalanced left > over I went. It happens! However, fwiw I now can't imagine riding without clipless; in fact, I feel insecure/ill at ease when riding a bike with flat pedals (let alone toeclips, which I just never 'got').
I don't think there's 'a way'; one just (eventually) gets the hang of it (balance, muscle memory, etc.).

One tip (two really, though related -- see a couple of posts above): if you are using spd (i.e. Shimano mtb style) pedals, set the release tension to low-medium or even low the first little while. Applies to others as well. This adjustment is really easy to make. Also, replace the cleats regularly; worn cleats actually make it more difficult to release from the pedal.