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my biggest problem with handrails at first was jumping on from the side and the momentum from that carrying me over the rail and off the other side. try to jump as straight as possible and just place your feet on top.
i find round rails much easier to get onto from the said than stupid flat bars, but any ways here i go.
before you get on the rail, kinda of focus down the rail like what angle it is and such, then right as your getting on focus on where you are going to lock, then look for the end of the rail.
also, make sure you're pretty close to the rail before you get on and parallel.