Stretch before you begin the class or exercise. Just as you would before any other form of exercise, you should do some light stretching to warm before you begin to pole dance. Stand straight and then bend down to touch your toes, roll your neck and shoulders, and stretch your hamstrings by pulling one foot back with your toes touching your butt until you feel a nice stretch on each hamstring.
Grab the pole with both hands. Stand next to the pole so that it's closer to your weaker side. Then, place both of your hands on the pole so you're gripping it like a baseball bat, with your hands a bit more than 1 foot (30 cm) apart. Put the hand closest to the pole on top, and the outside hand on the bottom. Your lower hand should be at about chest level.
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.