Rope Climbs are definitely a stumbling block for many people. There are 2 sides to the Rope Climb: Strength and actual movement. Carl Paoli starts his lesson here:
backrack lunge out of the rack – walking
work up to a heavy 8 reps. 4 per leg.
5 to 7 sets
For time: 5 rounds
20 Push ups
15 split jumps
1 rope climb