When it comes to your opponent grabbing you, there are only so many options. Although Junte Dori (wrist grab) is often taught first, Mune Dori is more common.
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When your opponent takes hold of you with both hands, react as fast as possible. Adequately.
Ideally you react even before he takes hold of you - well.. you should not be there in the first place.
Move your body to the left and twist to the right as you execute Soto Uke with your right arm. At the same time, force his arm down and strike his abdomen.
Twist your body to the left as you grab his sleeve or arm and strike with Shuto Uchi is his neck.
Pull with your left hand as you push with your right while stepping behind him to apply Kuzushi (don't use a Judo type of throw).
Continue the movement and use your Shuto to control your opponent as you force him down to the ground.