Pump up tire to about 30psi. Deflate. Reinflate to recommended pressure.
I've always added an extra step:
After pumping the tube to ~30psi (personally, I probably pump up to about 60-70 psi) then deflating, I squeeze the tire bead off the hook on the rim. I use a pinching action with my thumb and index finger so I can unseat both sides of the tire walls at the same time. I work all the way around the circumference of the tire squeezing about every 2 inches.
This extra step takes less than 20-30 seconds and assures that there is no tube pinched between the bead and rim hook. I then inflate fully.
During the deflating process above, I don't fully deflate. I allow the tube to retain some shape so it remains in the area of the tire where it belongs. ...too much air makes pinching more difficult so decide for yourself how much is too much.
When changing tubes at home, I apply some baby talcum powder to the tube before inserting. The powder reduces friction and allows for easier movement of the tube within the tire casing.
I also prefer tires I can install by hand (without tire levers.) This means no lever pinching of the tube when the last bit of tire bead is put onto the rim. FWIW, I never buy Continental, and almost always buy Michelin or Specialized. I can never install Conti's w/o levers and can alway install Mich/Spec by hand. I haven't tried too many other brands cuz I already know of two that work for me. ...your milage will vary due to rim make/model.