My oldest son was very good at this and used angles to get into the lane at will versus some very good defenders. I particularly remember a fairly one-sided matchup between him and a pretty athletic looking defender. After a number of penetrating drives leading to baskets or assists the other coach yelled,
"LOOK AT HIM! ... LOOK AT YOU! ... HOW?!?"Change of pace...change of direction....change the rhythm of your dribble ... Thats how!