What Arthyr P said. Only difference is that I use a second bucket of ice water. After letting the limb warm up in the warm water and flexing it to the opposite side of the twist I will submerge the limb in the cold water, this sort of shocks the limb into staying where you want it so that you do not have to sit and hold it till it cools. I have returned several bows to shooting that I never thought would make a comeback. I do this process without the bow strung. After straightening I let the bow set for a day and see if the adjustment has taken, then I will string it on the next day and let it sit for another day, if the limb stays straight then I start a full draw process whereby I draw it 1/4 5-6 times and let it set, then draw it 1/2 5-6 times and let it set. If you here any cracks or pops, it is best not to continue.
The biggest thing to remember is that this ain't rocket science, just try it. Just DO NOT USE BOILING WATER! I learned the hard way. Patience goes along way.