The only way I've ever done it is to cram both needles into one hole, and treat it like a knit stitch... Sounds like 2 steps to me, but I dunno. It works, which is my only real requirement.
I actually did it with a crochet hook once out of desperation. (Black yarn, tight gauge, bad light... you know, all the wrong stuff.) It worked well enough for my purposes, and it was all gonna be hidden in the selvedge anyway. Of course this meant slipping the stitches off the end of the crochet hook onto the needle to continue, but at that point as long as I got some loops on a needle I didn't really care how it happened.