Guiding a rover from a computer screen 119 million miles away is a complex task. Accidents were expected. During months of rehearsals in the test bed, Brian Cooper had practiced maneuvers to free Sojourner from just such a predicament. This was the real thing.
Under Brian's guidance, Sojourner slowly backed off Yogi. Her rear wheel dropped to the ground, but there was no damage to the sturdy little rover. Now Brian had to reposition the APXS so that it made contact with Yogi. He instructed Sojourner to make one turn to the left, then another to the right. Slowly Sojourner extended her APXS and gently touched Yogi.