Also known as the reverse climb, I used to make my students in higher level classes do this for a warm up. A couple of times up a 12' pole and you won't be cold any more. But I don't have a 12' pole at home the highest I could get at home is 10' and I would have to set my stage pole up outside for that.
With regard to that in this tutorial I show you from standing and from the floor. If you have a shorter pole doing it from the floor will give you more practice with it because you'll get to perform the motion one more time than from standing.
I like to wrap the top hand/forearm around the pole as opposed to putting the pole in my elbow as an elbow grip. I don't like the aesthetics of the elbow grip for reverse climbing though it may be beautifully utilized in other pole poses.