My standard approach is to set the brake, press the handle on each arm and pins should pull easily. But I do have a set of channel lock pliers and a rubber mallet to whack the pins with if they are not free. Most often the problem is not having the two vehicles perfectly aligned or being on not level surfaces. If I did not have to set the brake it would be easier,,,but the vehicle could roll away prior to engaging the drive shaft disconnect and that would be upsetting and likely to attack more attention than whacking the pins.