So these are a passive tame, get some bug repellent ( make it ok a mortar or a chem bench and you’ll need; narc, lemons, carrots and pelt)
You will also need Deathworm horns for the actual taming, put them in the last slot on the quick access bar.
Find the Mantis that you want, use the bug repellent (you’ll get about 400 seconds) and no insects will agro by you being near them. Approach the mantis from behind and feed them to it.
It may takes more than one feed? If that’s the case be aware that the mantis will agro for a bit.
Best method I was told. Build a 2x2 stone [or wood if low] foundation with 2 high walls, drop in with flyer, feed through wall. Has a massive hitbox to feed it through if lured close to a wall. No repel needed with this method.