If your chain appears tangled, or has loops as shown in the picture below, rest assured, you should not have to disconnect your chain or your rear wheel. It is a bit of an optical illusion. It can actually be resolved quite easily. Once you get it untangled, it should look like this (note position of derailleur and that the chain does cross through this portion of the frame):

The video below recommends flipping your bike over. This is not required and not recommended for your bike.

Do not flip your bike upside down -This may cause damaged to your throttle, display, or brake levers depending on how you have them adjusted.

This video explains it fairly well. You may want to skip the first 30 seconds.