If you’re new then get out and look, no other way to do it or you will make a mistake. That mistake may be going in too low under the pin, or raising the suspension when the pin is over the 5th wheel plate rather than the slot, reversing and again shooting the pin. Or, less disastrous but ■■■■■■■ annoying for everyone else is you go in too high or raise it too soon and scrape all the grease off the 5th wheel and dump it on the catwalk or trailer edge.
Get out and look, back it up and connect, only once you get it right every time can you think about modifying your routine to going in low, then raising it until you see it lift and knocking it shut. I still get out and look every time now because we can’t raise the suspension on our trucks and shunters or other trucks can drop them way too high, so we often have to wind the legs down to meet the plate.