Here's what I do, which doesn't technically involve tucking, but then I started off on the small-side: I usually wear hipsters but I suppose it doesn't matter much as long as you have enough material in the middle for support. So I put them on but not all the way up, because before that I rotate my pelvis back (so just leaning forward a bit) until it's all between my legs and hanging there. Then I pull the front of the panties up and pull them back and up in the back. This not only makes them fit how they're supposed to, but also pulls everything up and back. I find it keeps everything pretty secure and not noticeable. May not work for everyone.. I imagine bigger packages might have to be secured with additional steps, especially if things start spilling over the side. But this is a quick and effective method for me which makes it easy to get in and out of the bathroom quickly and doesn't involve additional resources.
