If the pipe is crushed to the degree that it usually is by muffler shops, you're probably SOL unless you don't care about whichever pipe is larger in diameter. If you want to replace the smaller diameter pipe, use a grinder or a Dremel tool with a cutoff wheel to make a cut in the larger diameter pipe and then hammer a cold chisel in to open the cut.
This is why I install clamps only tight enough to prevent the pipes from twisting in one another, but exhaust shops don't give a rat's... you know what.