I also used to use the straps as described earlier in the thread, as this was what everything I read told me was correct. With experience, I've shifted away from that, and now use them only occasionally, on certain extended downhill sections, or in places where dropping a pole would send it falling down a steep hill or cliff. In general I found the straps more of a hindrance than a help. The biggest disadvantage when using straps is the inability to shift my grip up and down the pole; that's something I do every few minutes, since the terrain around here tends to be quite uneven, and many of the trails are narrow with dense undergrowth or raised banks of earth on both sides.
Lately I've also gravitated toward using only one pole, which I transfer from left to right hand as needed. This is much easier to manage in narrow sections and places where you need to hold onto rocks to climb up or down a big step. It's nice to be able to hold onto something with one hand while bracing yourself on a pole in the other hand.