Abstract: The present invention is directed towards a method for racking or unracking pipe to or from a rack and a device to facilitate the process. The method provides a controllable procedure for inserting or withdrawing the pipe that is less dangerous than prior art methods and does not damage the pipe end. The method entails inserting a pipe gripper having an expansion sleeve into an accessible end of a pipe. The expansion sleeve is forced against an inner wall of the pipe, coupling the pipe gripper to the pipe. Depending upon the application, the pipe is then either pushed fully onto the rack or is pulled partially off the rack. For unracking operations, a crane sling is attached to the partially unracked pipe and the pipe is further manipulated off the rack.