I go over the technique in this thread:
http://forums.pelicanparts.com/showthread.php?t=420766
The trick is to get the membrane to separate into two layers. If you peel off the entire membrane, leaving bare bones, then the bones will just fall out when the meat is done. You need a little bit of connective tissue there to hold things together. Of course you don't want the whole membrane there because it is tough.