I learned how to do this at a very young age. That would be 8 years old. After the first delightful orgasm I began a daily ritual. A clean smooth pole is necessary, which became a challenge to find the right poles. Undress, completely naked and grasp on with a good grip because this takes up to 10 minutes to work it to an exposive orgasm.
Basically, I climb the pole, with my erect penis to the right side of the pole and the pole is pressing against my pubic bone. This makes my erection protrude past the pole. Climbing the pole is the only way I can describe it, but it's really like hanging while squeezing my thighs together in a rhythm that has to stay constant. With that motion going, slight controlled thrusting of my pelvis takes place. Pulling myself upwards, and letting myself slide down very slowly is also happening. Eventually, even though my hands and arms are totally aching with fatigue, I start to feel the good sensation starting. At this point, the point of no return I call it, nothing can stop me from finishing. From when I first mount the pole to the time I squirt takes an average of 8 to 10 minutes.