Wrap your leg around the pole. Bring up the leg on the same side of your body as the hand that is holding the pole. Then, bring your leg up to the pole as you wrap your other hand around it. Flex your foot and place it on one side of the pole, with your knee on the other side. You'll need to use this leg to really anchor yourself to the pole, and create a sturdy base for your other foot to land on.
The use of pole for sports and exercise has been traced back at least eight hundred years to the traditional Indian sport of mallakhamb, which utilizes principles of endurance and strength using a wooden pole, wider in diameter than a modern standard pole. The Chinese pole, originating in India, uses two poles on which men would perform "gravity defying tricks" as they leap from pole to pole, at approximately twenty feet in the air, further information can be seen in the old vintage documentary series of mallakhamb, by yasho purush film on YouTube.