I have used the matchbox method. The unaccompanied queen is put in a cardboard (not wood!) matchbox which is opened just enough for tongue contact between queen and workers but not passage. The workers start nibbling the edges of the card until they can get into the box and the queen get out.  You can either put the box in the hive and let them do it in privacy or, if it's warm enough, on the alighting board of the hive allowing you to watch the process. It takes about 20 minutes. 

If you don't have many match boxes in these days when everybody uses lighters, you can make up your own from postcards.

Chris

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