Hold the cube so that an incorrectly rotated corner piece is in the UFR position. If it needs to be rotated clockwise, apply F D F' D' F D F' D'. If it needs to be rotated counter-clockwise, apply D F D' F' D F D' F'. Now (and this is extremely important) turn the U face only, so that the next incorrectly rotated corner piece is in the UFR position. Apply one of the above moves, depending on which way it needs rotating. Repeat if more than two corner pieces are incorrectly rotated.
After all pieces are rotated, simply turn the U face and complete the cube.
This step may be confusing, simply because after just one corner piece is rotated the cube is in quite serious disarray. Just make certain that you move only the U face and it should work out fine. I'll give one example to show exactly what will happen, for a simple example: the UFR piece needs rotating clockwise, and the UBR piece needs rotating counter-clockwise. Do these moves and the cube will be complete F D F' D' F D F' D' U D F D' F' D F D' F' U'.
Note that there are only certain combinations of incorrectly rotated pieces. If your cube gets to a position where there is a situation other than one of these, then it has probably been taken apart by small green aliens, so I would recommend disassembling it and starting over.
- One piece needs rotating clockwise, one piece needs rotating counter-clockwise, other two are correct.
- Three pieces all need rotating clockwise, other one is correct.
- Three pieces all need rotating counter-clockwise, other one is correct.
- Two pieces need rotating clockwise, two pieces need rotating counter-clockwise.
I was going to write "all corner pieces are correct" here, but I guess that would be obvious.
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