The basic mechanics of the crawling corner bug are covered in the Useful Bugs section. It includes detailed instructions and a video. Once you get the hang of the maneuver, you won't need the elaborate setup shown there, but it can help when you're learning.
In the Tomb of Semerkhet, after obtaining secret #6, you can use the crawling corner bug to bypass the rope swinging and pop directly up to the exit. Start by going through the archway between the two lit torches into the room with the climbing pole.
After passing under the arch, go around to the right and face the wall just beside the opening. (You can use the bug on either side of the archway, but for this example we'll use the right side when facing the archway and trapdoor.)
Sidestep to the left if necessary so Lara's left foot is close to the corner.
Pivot about 45 degrees to the left, like you would for the basic corner bug.
Now press and hold Duck/Crouch. If Lara is positioned correctly, her right shoulder and knee will creep into the corner a little.
While still holding Duck/Crouch, press Forward once so Lara goes onto her hands and knees. Now Lara's upper body should disappear into the corner texture.
Release Duck/Crouch and she should spring up through the wall to land on the ledge above.
The pole is off to the left and the exit from this room is just ahead.
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