Gramby

The Gramby is set up from the turtle position. When your opponent reaches over you with their arm you can grab it with your hand. If they are on your left side, their right arm is dropped over you. Grab the arm with your left and then reach back with your right arm and anchor in at their elbow. You will then post right left leg and roll backwards. The detail to recover side control is to check the hip with your left hand. Then turn to the left to grab both legs and recover side control.

Here is the Gramby.