practice.

getting out shouldn't be a problem. can you adjust the tension on the pedals? if so, loosen 'em up a bit - you really shouldn't have an issue un-clipping.

getting in is just practice. when i'm stopped at a set of lights, it usually takes me 1 revolution to clip back in. if i miss it on the first, it takes 1 - 2 more revolutions to clip in (by then my rpm is increasing, so it gets harder). shouldn't be much more than that...