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This is very simple: a turbocharger is designed to work with the accelerator all the way down.

[edit] Steps

Just keep the engine running at over 2500 rpm for diesels and 4000 rpm for gasoline engines. When upshifting on a manual, floor the accelerator before letting off the clutch. Make sure you're late-shifting, i.e. you overrev your engine before upshifting.