Grab the rope at a the highest point you can reach. Engage your lats and actively pull your shoulders down towards your hips. Jump yourself up to your hands. Focus on driving your chest towards your hands while keeping the rope tight to your body. At the top lower yourself down in a controlled manner aiming for 2-3 seconds from top to bottom.
This is a similar movement to the Pull-up Negative. You should be able to control the movement the entire way down. If you can no’t do this start with Leg Assisted Rope Pull Ups.