Use a roof rake or long-handled push broom to remove snow from the edge of the roof. This makes it easier for you to access the dam, as well as helping to prevent another dam from forming after the current one is broken up.
Set a ladder against the roof in an area where the ground is level and free of ice. Carefully climb up the ladder until you can see and reach the ice dam.
Chip away at the ice dam with an ice pick or the claw end of a hammer and push chunks of ice off the roof as they break loose. As you come close to the roofing material, take extra care as you chip at the ice to avoid damaging the roof. Continue removing the ice until the entire dam has been eliminated.
Maintain your roof, which is now free of ice dams, by raking it after every snowstorm and checking periodically to be sure that no new dams are forming.