First, it will probably have to be at night.

Go into someone's house (has to be illegally!) and go into the private quarters and wake them up or just find them and let them see you. They will tell you to leave. Just wait.

They will tell you you have a last chance or something similar to that. Keep waiting.
They will say leave now or they will call the guards. Keep waiting.

They will (most likely) attack you instead of getting the guards. You now have permission to attack them back without getting any bounty.

But don't let them run away because that's when they get the guards. Just make sure you can kill them first!

Then, no one is in the house and you have the key. You can now loot their house too!