Grab the rope at just above eye level. Squat down to a point where your arms are straight. Pull your shoulders down towards your hips and pull yourself up toward your hands, keeping the rope tight to your body. You will give yourself some assistance from your legs, however, it is important to do as much work as possible with your arms.
As you get stronger you will begin to do more work with your arms, eventually doing this movement with only your toes giving you assistance.