You asked for "the trick."
It is patience.
You have to clutch and then wait ... wait ... wait for the trans speed and the engine speed to match up. I'm convinced that the double-clutch is just a time allotment, like saying, "one chimpanzee, two chimpanzee ..." Get the waiting perfect and you wouldn't have to double clutch at all.
Downshifting from 3rd to 2nd is just the opposite. You must increase the engine speed to match the transmission speed. It is harder to do, but the same trick applies ... patience.