By doing this, you’ve dipped down far enough that you’ve given yourself sufficient room to maintain a neutral wrist. If you don’t dip down far enough to create that space, your wrists will have to bend backward into extension to allow you to pick up the bar (because bending your wrists backward makes your forearms artificially shorter), and this is what you’re trying to avoid.
That’s all there is to it - simply walk your chest up to the bar, dip down until your chin touches the bar as you rotate your elbows slightly in front of the bar, and then stand the bar up while maintaining that nice, neutral wrist.