Stand at arm's length from object you'll be pulling yourself towards to, grasp it with both hands, move your feet as close as possible to the base of the object and lean back; this is the starting position.
Slowly pull yourself towards the object until your chest is gently touching the object.
Pause and then smoothly lower yourself back to the starting position.
Risks
Make sure the object is sturdy and will hold your weight, and make sure that neither your grip nor feet will slip away resulting in a fall.