Let gravity be your friend. Place the source vessel higher than the target. The lowest point you'll be siphoning from, should be higher than the highest point (liquid) of where it's going into. Start with an auto siphon, pump it with <half strokes until the brew starts flowing and then just watch it go from A to B... Keep the source end off of the trub and you'll be fine.. Don't worry about losing some of the beer in primary, to avoid getting trub into secondary, or the bottle bucket.
Auto siphons are great items to have. My first kit came with one and I'm very glad to have it... You can also use it as a pump when you need to pull out heavier liquids, or when you cannot use gravity.
I've even started using my auto siphon to move the wort to primary, since it makes it far easier than trying to pour 5 gallons of wort (even when chilled)... Risk of any spilling is virtually nil now.