Stand off to the side of the ice dams, and keep the area underneath the iced area clear.
Tap the icicles with a wooden pole to knock them off the roof overhang. Avoid forcibly hitting the icicles, as this can damage the roof.
Lean a sturdy ladder against the roof, and sweep snow off the roof's surface with a roof rake. The roof rake eliminates the accumulated snow, which prevents icicles from forming in the future.
Shovel the area below the roof to remove icicle fragments and snow.