The 'trick' is "don't drop it" back down the well.
Other than that, knowing what you are doing and planning carefully what needs to happen as you raise and remove each section of 20' pipe, while hanging on to the pipe below, it should be a breeze. No rocket science, but just straight forward work (and supporting 20' of pipe overhead).
Good luck. Be careful and show pictures, please.
I helped do that one cold night (-15° F) at the neighbors dairy farm when he needed help to get well water by morning milking time. Cold, wet, frozen, slippery, etc. was the name-of-the-game from midnight to 4 am.