This is how I learned to do it as an undergrad, although I don't normally teach my students this method because many of them find it confusing. If you want to use this technique, what you do is align your thumbs (of both hands) in the same direction of the fourth priority group (which isn't always H, incidentally) and then curl your fingers. If the priorities go in the direction of the fingers on your right hand, the configuration is R. If they go in the direction of the fingers on your left hand, the configuration is S. The benefit of this method is that you don't have to worry about swapping groups if your low-priority group is sticking out at you; you merely need to point your thumbs outward, and the technique still works just as easily as if it were pointing away.