Grab the rope at a the highest point you can reach. Lift your legs and hang. Engage your lats and actively pull your shoulders down towards your hips and pull yourself up to your hands. Focus on driving your chest towards your hands while keeping the rope tight to your body.
Do not push off with your feet or jump. This is a very similar movement to the Pull-up on a bar, different grip position. Try to switch your grip, alternating which hand is on top.