Joe Woo explains the double underhook escape to guard in this Jiu Jitsu instructional video.
This sample clip is from the "Mastering Jiu Jitsu Escapes From Bottom by Joe Woo" instructional video available here:
https://bjjfanatics.com/products/mastering-jiu-jitsu-escapes-from-bottom-by-joe-woo
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