Detailed Description
Use a friction hitch like a third hand or prussik with a carabiner. Tie the friction hitch on the part of the belay rope going from the anchor to the rappeller. Then clip the carabiner on the strand of the belay rope going to you. If you pull up you suddenly have a 3 to 1 pully system and can pull the client (easier if they help) back up.
Note a similar 3 to 1 system can be used for top managed belay with a plate device belay instead of a munter belay that is commonly used in lowering belays. The attached video is for that situation but is still instructive for this situation.
Prerequisites
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Pull Someone Up Using 3 To One Pulley On Intitutional Rappel Progressions