It takes years to master.
Conventional wisdom suggests that you start small and relatively close to the ground to get the hang of it. You could also start high, with safety nets. It’s more expensive and each cycle will take longer to perform. In the short run, this may hamper your progress but may pay dividends in the long run.
Either way, you would be foolish to start on a cliff face with no backup plan.
Unfortunately, life does not always give us all the time we need to prepare. Without warning, you find yourself there, on a tight rope, no way forward, no backup.
Get down and do the dead man’s crawl instead.