At the Terry website there are some useful videos on this and other subjects. Check out the one explaining Presta valves.

http://www.terrybicycles.com/videos

This is how I do it
Remove dust cap from tube.
Unscrew valve stem. Just the teeny nut at the business end of the stem.

With pump valve closed (parallel to hose) attach pump valve to stem. Be sure to apply it firmly to the stem as far as it will go.

Open pump valve so it is perpendicular to the hose, and in line with the stem.

Pump firmly to desired tire pressure. Speed is not necessary.

Close pump valve (parallel to hose or perpendicular to tire valve stem)

Disengage pump valve from stem by pulling it straight away from stem. This is where I often scrape my knuckles on the spokes. Sigh.

Screw in valve stem nut.

Replace dust cap.

Repeat with other tire.
Go for a ride.

Should just take a minute or two. If you do this before EVERY ride (even if you just did it yesterday) it should dramatically reduce the incidence of flat tires. Well pinch flats anyway. No guarantees against glass or nails.