The method I have used all my life involves two people.
One holds the yarn on the wrists, moving the hands such that they assist in unwinding and keep the yarn organized, the other does the winding of the ball and pulls the yarn from the partners hands, gently as not to disturb the lot.
I have used a one person version of this myself, it takes some practice and I think it requires the training of having been person one as well as the other in the two people method.
Hold the yarn on your arms about elbow level, making sure that the winding off side is on the outside and the top, bring your hands together while keeping enough tension on the yarn to keep it in place.
Now start winding, undoing one loop of the yarn at the time at most, to avoid tangles.
The method my grandmother would use: two chairbacks.
Put the yarn around two chair backs where the chairs are back to back, move the chairs away from each other till there is just enough tension to keep the yarn in place. If the chairs glide easily over the floor you may need to put something between them on floor level and if they tip backwards put something heavy on the seats.
Or if your chairs and skein sizes allow, turn one or both chairs so the seats face each other.
It will work easiest if you have an eye above the chairs to pull the yarn up from the chairs, but if needed you can work your winding above the backs.
Some extra twisting or a little untwisting of the yarn is to be expected, (which depends on the lay of the twist in the yarn and the way you unwind) but in twisted yarn it will not be much and might be taken up by how you wind your ball.
In the comments @Not The Face mentioned a niddy noddy. I have never owned or even used one, so I am not sure how easy it is to get a skein onto one, specially if the skein has not been made on it. But I see that there are niddy noddies which can be adjusted in size and those might be useful for bought skeins.
And I am also not sure how easy it is to use one to unwind when alone. But it would keep the skein in place when you unwind.
Checking out videos about making your own niddy noddy, I also found videos about making or using your own skein winder and swift.
I have not tried any of them, I mostly included them as proof that the information is there on internet.