Start with both hands on the same rung, far enough off the ground that you will be able to do a pull up. Then do pull ups as normal.

Do not crimp hard or use your thumbs. Use an open-handed crimp grip and let your thumbs just be bent, not grabbing or pinching the rung.

Make this easier by using a larger rung and/or putting feet on.
Make this harder by using a smaller rung.

This video is used in a rock climbing training program available at

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