I find the pencil hold a little un-nerving.
Coz by lengthening both arms on ur back, no matter what, one arm is straight while the other is bent.
As long as your grip is firm & your core is strong, you can just hang-on there.
Then use one leg to hook around the pole, stretch out the other & "kepik" clip your inner thigh hold.
Once secure, you can just arch your back & release your arms.
Slowly slide yourself down to the floor to a elbow rest.