Your first priority when you find yourself in a bad position should always be to get safe. If you don’t get safe, then any movement you make could mean you end up in a worse position or submission.
Once you have got yourself back to a safe position, your next goal should be to build a frame (sometimes this can be done simultaneously with getting safe). From your frame, you can then look to escape to a better position.
Sometimes that escape can put you in a position to attack with a submission. An example of this is the arm bar off a bridging side control escape. This technique is the subject of episode 57 of 2 Minute Jiu Jitsu.
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