Mine was pretty easy since I had already driven the car at Scion's "first drive" autocross.
I walked into the Scion dealership and told them I wanted an FR-S. They told me the price and said no haggling on the Scion "pure price". I signed the deposit form.
Car arrived 2 months later. Did a quick test drive and signed the paperwork.
It's easy when the dealer sets the price and you accept.