Have passenger hold you on the shoulders / rig, and use your hands to hold the passengers legstraps.
Exit linked with this 4 point configuration, once stable belly to earth, place passenger on your bum where you want him/her to be, then open arms and fly. This works out of any side-door, tailgate etc.
As long as you have these 4 points of contact, like a tandem, you can roll 6 times and still stay tight together and come out flying...