Fill the 5 cup container full, (5,0)
Fill the 3 cup container full using the 5 cup container, which afterward contains 2 cups, (2,3)
Pour out the 3 cup container and fill it with the 2 cups remaining in the 5 cup container, (0,2)
Fill the 5 cup container, (5,2)
Top off the 3 cup container using the 5 cup container. This takes 1 cup from the 5 into the 3, (4,3)
You now have 4 cups in the 5 cup container.