It would appear you mean when putting the pto shaft on and off of the pto on the tractor. If that is correct, I often put just a little grease on the tractor pto shaft as I am greasing the lift arms. It is also important to oil the locking pins on the shaft on the implement. Also keep trash off of all splines. If you do not have a sleeve to slip over the pto shaft on the tractor when nothing is on it, get one and keep it on when no shaft is on there.
Now if you mean trying to get it all lined up and stand on your head while you whistle hoping you have it all together, practice, practice. But some grease helps that also. Be sure you grease the pto shaft that runs between the implement and the tractor in the fittings and take it apart and grease the sections where they slide together. You need it to slide to collapse and extend when being used but also when connecting or disconnecting. kt