Originally Posted by iluvlcy
Release yellow button and it goes down in a kind of z pattern.
Yes, that is exactly correct. May I add, it moves easily so if you're having trouble, stop, you're doing it wrong.
Set the table on its window side edge. Look at the leg now closest to the floor. Move the yellow pin out to release the catch. Grasp the cross bar closest to you and pull up. It will pivot into the table's bottom.
We do this with the table resting on the ledges on the dinette benches so the table goes from bed to table without having to be moved much at all. When you do it once, you'll have that "Aha!" moment.