Before you climb, you need serious grip strength and shoulder stability — this is not a movement to learn if you have never hung from a pull-up bar. If you are new to rope, start by just hanging and pulling yourself up a foot or so, then jumping down. Once you can dead-hang for 20-30 seconds and pull yourself up a bit, you are ready to climb. Grab the rope with both hands above your head, squeeze hard, and pull yourself up. Use your legs too — wrap the rope around one foot or squeeze it between both feet to take some load off your arms. Climb to a target height, then lower yourself with control. Do not just drop.