With me taking them out less than 20 times a year it took me maybe 3-4 years to get really used to it with soft contacts (rigid ones are not a problem, they are really easy to take out and you don't have to pretend you're pulling on your eyeballs).
Basically you hold your eye open with the two middle fingers, look up and then squeeze your (dry) thumb and index finger over the contact to take it out.
First couple of times it took me almost half an hour (and that's after years of rigid contacts) and by the end of it I looked like having gone through the funeral of every single person I care about. Now it takes me maybe a minute to replace both.











