1.  Modify furniture for your needs. If possible, modifying the changing table to allow rolling under it makes a huge difference in comfort and control.

2.  Keep supplies handy. Put everything needed for changing within reach, and make sure it is there before placing baby on table.

3.  Diaper bags can be easily attached to your chair. Hang on the back, or store underneath. 

4.  Learn what works for you. Once confident I upgraded to a more compact changing bag that allows me to change diaper on my lap.