Tawaf
What if I cannot reach the Black Stone?
Point your palms towards the Black Stone and kiss them. This is istilam. Pushing or hurting others to kiss the Black Stone turns a sunnah into a sin, so point to it instead.

What istilam is
Each time you reach the Black Stone line, face it, say Bismillah, Allahu akbar and make istilam. If you can reach the Black Stone without pushing anyone, kiss it. Otherwise point your palms towards it and kiss them.
Do not push
Pushing or hurting others to kiss the Black Stone turns a sunnah into a sin. Pointing to it from the line carries the reward of istilam without the harm.
For sisters
Kissing the Black Stone usually means pressing into crowds of men, so sisters point to it from the line instead. See Umrah for women.
At the Black Stone
بِسْمِ اللّٰهِ، اللّٰهُ أَكْبَرُ
Bismillāh, Allāhu akbar
In the name of Allah. Allah is the Greatest.
The takbir is in Bukhari, and Ibn ʿUmar added the Bismillah (Bayhaqi)
More questions
Do I need to touch the Black Stone?
No. Pointing towards it is enough when you cannot reach it safely.
Can I kiss the Yamani corner?
You may touch it with both hands or the right hand if you can, and you may also kiss it, but do not turn your whole body towards it.
What do I say?
Say Bismillah, Allahu akbar each time you return to the Black Stone line.
Read the full guide
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This guide follows the Hanafi method and is based on Shaykh Mufti Wajid Iqbal's Umrah book, Essential Islam. For your own situation, ask a qualified scholar.