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Keep holding their left foot up with your right hand. Raise your own left foot and pivot on your right foot to execute a 180-degree turn in a clockwise direction. When you finish your turn:  Your back should now face your opponent. Your right foot should still be between their legs. Your left foot should now be on the outside of their left leg. Hold their foot up with both hands. Once your left hand has taken hold, slide your right hand down along their left leg. Stop just before you reach their knee. Keep turning in the same clockwise direction by another 90 degrees. As you do, use your hands to bend their left knee so you scoot your left foot under that leg while straddling it. When you finish your turn, your should be facing the inside of their right leg.
Straddle their left leg. Grab their left foot with your free hand. Continue turning.