I shave with a traditional DE (Double edged) razor. In combination with a good lather, and proper pre-shave ritual this is hands down the best way to shave, for some people. For others this will cause irritation regardless of your technique and number of passes. For those people I would suggest simply using a beard trimmer to get a stubbled look without the irritation.
Good places to start if you wanna learn more about traditional wetshaving are:
http://shaveblog.com/
and
http://badgerandblade.com/
-Eric