First safety rule: Wait for the Elevator Mechanic!
If that isn't a possibility then...
There are 2 basic types, hydraulic and traction. Hydraulic type use a ram to move the elevator, either directly or through a cable system. (Not that common here in the US, but popular in Europe.) Traction use cables over a traction sheave to move the car. On the other end is a counterweight. This type is better left to the Elevator Tech to remove people unless it a matter of life or death. Hydraulic types are fairly straight forward. Secure power at the disconnect, establish communication with the trapped people, use the hoistway door unlocking device (lunar key) to open the bottom landing door. This should be located in the emergancy key box or equipment room. Locate the elevator, have that person contact a person in the equipment room via radio to slowly open the manual lowering valve until the car starts down at a slow controlled descent, when it reaches floor level, shut the manual lowering valve. You can also let it go to the springs. Close the oil line shut-off, manually force open the car door, and assist the people out.
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