If it's a domain of any value, it's very difficult these days. It also depends on where the domain is registered. For instance if it's at Godaddy, they auction off their expired names at TDNAM auctions.
you will have to bid on it at some sites who specialize in trying to reg it asap if its a domain of any value
Just back order at Snapnames, Clubdrop, Pool or GoDaddy. You have to bid really high for valuable domain names.