In human-robot interaction (HRI) design, it is critical to consider the needs of users early on in development. One ideation technique for doing so is bodystorming, in which participants act out the parts of humans and robots in a certain scenario. This practice allows potential users to draw on and express insights for how robot should help, or interact around, them in a given context. In this paper, we discuss our experiences applying bodystorming in industry across three different scenarios for two different robots. We focus on the methods and techniques of bodystorming, in order to help researchers most effectively apply this technique in the HRI design process. We give recommendations for choosing and preparing good participants, honing scenarios, keeping scenes on track, interrupting scenes to disrupt false assumptions, and embracing serendipity. We hope that these guidelines encourage and inspire more researchers to add bodystorming to their experimental toolkit.