Small diameter copper pipes (15mm or less) can be bent by hand with the aid of a bending spring, so that the bend is smooth and free of kinks. However, thicker piping is much more difficult to bend and you need a lever-type tube-bender for this. The useful Trueshopping tube-bender applies considerably more leverage than bending by hand. When using this tool ensure that you over-bend the tube slightly as it will tend to spring back a little.
When using a bending spring it should first be coated with petroleum jelly so that it can be easily inserted into the pipe. If the bend will be some distance from the end of the pipe then tie a length of cord to the spring beforehand, so that you can retieve it later. Once you have inserted the bending spring use your knee to bend the pipe. Note: it is advisable to use a piece of cloth as protection for your knee. Again you should always over-bend the pipe slightly to compensate for the pipe springing back. Once the angle is correct, remove the spring. This process can be simplified by inserting a screwdriver through the spring eye and turning.