  We present a method of computing elements of spin groups in the case of
arbitrary dimension. This method generalizes Hestenes method for the case of
dimension 4. We use the method of averaging in Clifford's geometric algebra
previously proposed by the author. We present explicit formulas for elements of
spin group that correspond to the elements of orthogonal groups as two-sheeted
covering. These formulas allow us to compute rotors, which connect two
different frames related by a rotation in geometric algebra of arbitrary
dimension.
