Here is a great video on how to fall out of headstands and handstands:

http://www.doityourself.com/video/Off-the-Wall–Falling-Through-Head-and-Handstand-79727561

The wall is a prop. Eventually, you are going to want to be able to practice inversions in the middle of the room. We will all fall at some point; the trick is to know how to fall safely out of these poses to avoid injury. Patrick from the Yoga Garden says, “When we fall, we need to somehow transfer the energy into motion, rather than a jarring shock to our bodies.”

Basically, in Salamba Sirsasana (supported headstand) fingers threaded behind the head. If you fall, release the fingers and with palms open, tuck your neck, bend your knees and roll out of it.

In Tripod Sirsasana (tripod headstand), you can’t tuck your neck, so fall into bridge pose with your feet landing first.

In Ahdo Mukha Vrksasana (handstand) fall into Urdvha Dhanurasana (full wheel) if this is a pose that you can do. Keep arms long and head off the floor, trust that your legs will catch you.

Remember: Everyone falls. Learn to roll; don’t fight it! Practice falling at home. Relax and don’t panic. Stay limber and loose so that you can dissipate the energy and avoid injury.

Exerpt from Ramtha: The White Book by JZ Knight, pgs. 73-74.
“Ponder this: It only takes you a moment to envision happiness and your whole body will feel joyful. It only takes you a moment to play the part of a wretched creature whom no one has befriended, and you will feel sorrow and pity for yourself. It only takes a moment to do that. It takes you but a moment to stop weeping and laugh with glee. It takes you but a moment to stop judging and feel the beauty of all things. Now who is doing all of this? You. And while you have had this fancy of creating feelings within your being, has anything around you changed? No. But everything that you are has. You are precisely what you are thinking. If you ponder misery, you will have misery. If you ponder unhappiness, you will have it. If you ponder joy, you will have it. If you ponder genius, it is already there. How is your future created? Through thought. All of your tomorrows are designed by your thoughts this very day, for every thought you have, for whatever emotional purpose – creates a feeling within your body, recorded within your soul.”

Empty yourself of everything.
Let the mind rest at peace.
The ten thousand things rise and fall while the Self watches their return.
They grow and flourish and then return to the source.
Returning to the source is stillness, which is the way of nature.
The way of nature is unchanging.
Knowing constancy is insight.
Not knowing constancy leads to disaster.
Knowing constancy, the mind is open.
With an open mind, you will be openhearted.
Being openhearted, you will act royally.
Being royal, you will attain the divine.
Being divine, you will be at one with the Tao.
Being one with the Tao is eternal.
And though the body dies, the Tao will never pass away.
Tao Te Ching #16
Translation by Gia-Fu Feng and Jane English