The weight of the bar is in your hands. Keep your joints stacked and in a straight line. Unrack the bar in this position.
Push Press Grip
Think about setting up almost like a front squat, fingers underneath the bar. Your body actually unracks the bar. This is an open grip. Your thumbs are not wrapped around the bar at the beginning.
Are you doing any dips variations? You should be. Here are some interesting options, including straight bar dips and Korean dips, to jazz up your training.