If possible, it's best to try and downclimb (good practice) to your last bolt and have your partner pull tension on the rope. If you're beyond that and your arms are screaming for instant relief, let your partner know that you're coming down and gently kick off from the wall, looking down at your feet. Exhale as you start flying and try not to scream (looks bad). I prefer to keep my hands in a neutral position to brace for impact, but many tend to grab the rope feeding into their harness.
If there's a ledge below, or enough rope out to deck, the rule is simple: don't fall.
[youtube]http://www.youtube.com/watch?v=V1-GpfLmnro&feature=related[/youtube]
A little inspiration for ya.