Do you mean this: http://www.triagedesign.co.uk/wikipole/index.php5?title=Image:Scorpiohandstand.jpg ?

If you do, this is how I do it:

If you can do an inside leg hang (gemini to me, scorpio according the pic i linked) with NO hands :
You just need to position your arms to point below your head at the floor, and then loosen the grip of your inside leg until you slide enough to put your palms on the floor. Then lock your elbows like you would a normal handstand.

If you hold on the pole with one hand and one leg for the inside leg hang:

Invert up into the scorpio/gemini (inside leg hang) – and let your outside leg hang back. Then let go with your outside hand (the one where the armit area is NOT touching the pole) and stretch it towards to floor.

Now loosen your grip on your inside/dominant hand and the inside/hooked leg, until you slide down the pole a little. Have your free hand reaching down below your head ready to support your weight when you can touch the floor.

Keep loosening your grip and sliding. When your free hand is on the ground, you’ll need to push up with it and lock your elbow in (like handstand) and then grip with your leg that’s on the pole, while you take your other hand down to the floor too.