that's what vorlaufing is, letting the liquid drain out some to set the grain bed, then adding it back to the mash so you don't have any loss.
if you do a mash out and there is any stirring or heating involved, let it sit at least 10 minutes before draining.
then run some liquid out for vorlaufing until it runs clear. i usually do about a gallon, depending on mash and size.
when adding your wort back to the mash, ensure that it doesn't upset the grain bed. if you are just pouring it in, use a piece of foil or something so it doesn't splash in and upset everything.