Hello,
I was having the same problem with my recaros, googled it and landed on this forum, great advice!

The pins donīt have to come out. You just need to pull them a little bit forward and the headrest will be released. Otherwise you will have a bit of a hassle to put them back in place.

I did a little video on this, check it out:

http://www.youtube.com/watch?v=jMVeQBQTEUk

Regards.