Hand-over-hand? It's faster to go hand-over-hand to the top, but if you have to jump, you have to jump. If the halyard slips, or you drop it, you just have to get after it as quick as possible. As far as body positioning, I plant my inboard foot approximately 1 foot from the mast, angled at about 45 degrees to centerline, and my outboard foot on the sidedeck, in line with the centerline, so I have a solid platform for balance. I tend to sneak from the rail, then go to the mast to hand-over-hand the hoist. Then, if I am jumping at the end, to sort of "fall" back out toward the rail.