the key is doing it regularly. I use the same gillette I shave my face with and my regular soap when I shower. I agree that taught skin is best. For your pubic mound place a finger on each side of your cock to hold it taught . then keep pulling your shaft left right up and down tight so get the skin right with the hair fully exposed. Same idea on your balls keep them tight. I have found I can do it in just a couple of minutes as part of my regular showering.
Oh, and always feather out the edges to avoid the picture frame look. Have fun. Actually I enjoy it more when my wife shaves me and I shave her. But the concept is the same.