Watch the Supinate online guitar lesson by Brad Carlton from Chord Studies: CAGED Chords Vol. 3
Here we'll start things off with our I chord, D. This is coming out of your D form but is utilizing a cross fingering. Supinate your arm and reach with your first finger, making sure you don't bend any notes out of tune. Moving to the A/C♯, your third finger is going to be a pivot finger, and all of your other fingers will be guides. Again rotate your hand under the neck to facilitate the Bm chord with Cm form. Your fourth finger will act as pivot as you grab that last G5.