i was taught the basic climb somewhat differently, and i think it could be helpful to try this way at least until you are more comfortable with the grips involved?
step up to the pole- put your dominant foot (my right) up, get your foot hooked on it, put your arms up, and pull up to standing on the pole, bring your left leg to the front of the pole to wrap. you are clamping with your thighs and your calves, and holding on to the pole with both hands, your arms at about head height. this is the same as the regular climb.
theeeen. instead of pulling up with your arms and bringing your legs up simultaneously.... bring your legs up, WHILE holding with your hands. once they are up and secure, you are sort of scrunched up one hte pole.... THEN bring your hands up higher, so you are standing straight. so the order is move feet- stand- hold with hands. this way, you are never pulling your weight up, only supporting it... at least until you are more secure in your leg/foot grip and stronger in the arms.
hope that made sense... in my experience this climb is much easier, and as you get stronger, you can pull up more as you are moving your hands up/bringing your legs up.