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If you don't want to use the park brake and don't want the car to roll back the trick is learning how to let the clutch out quickly and coordinate it with your brake release without stalling the car.
You can practice this on a flat surface. Try to get comfortable with getting on the gas and engaging the clutch as soon as you get your foot off the brake. Do it as if you are trying to get the jump on someone at the light but with minimal gas input. If you can get the car to be rolling forward slowly within one second of releasing the brake you are pretty much there. Then start doing it on a hill because the gas input will have to change depending on the slope.
Leave a bit of space in front of you when you are in traffic on a hill. This way if you lurch the car a bit due to too much gas input you won't hit the guy in front.
Practice is as others are saying is the only way to get it down.
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