[unknownroad]

I'd take a couple of shop towels, fold one up a few times and put it over the bar end, and just fold the other one in half to go under the tank. Stand on the down side, grip the bar on the down side with one hand, and the grab rail or underseat rail with the other. Start close to the bike and walk backwards slowly, bending at the knees as it gets closer to the ground. If you've got the leg strength, it'll be smoother if you balance the bike on one knee as it gets lower, and switch your grip to the up-side bar end.

Getting it upside-down, I usually grab the fork with one hand and the back wheel with the other, and turn the wheel sideways once the bike is high enough off the ground. That way, the handlebars are in line with the bike rather than moving your pivot point way out to the side. Best to have a few extra towels, and work on a rubber mat.