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I've always found that along with everything previously mentioned, patience is the key. I like to sit inside people's full guard and wait for an opening before getting my arms out and underpassing. It's a really simple pass, but you must be super careful, if you leave an arm in or go too slow you'll get caught.
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Thanks so much for the help guys. Was actually drilling guard passing last night and was doing a little better, although I still stuggle with bigger guys (I'm only 5'6"), however guys more around my size have been significantly easier.