As mentioned, key things are getting your gear set up right for you and practice on your technique.
We could all advise until the cows come home, but if your not shown the right technique you might be going down the wrong alley.
If you could get someone who knows what they are doing for a few hours that would pay dividends. Then practice regularly on the surface with a friend.
Once you have that, its practice and practice to build your technique and the relevant muscles.
When you get your pantain pro v rope walking conditioner running nice and smoothly, you will be amazed at some of the speeds you can get up to.
I'm sure there must be people with too much time on their hands that have done instructional videos on Youtube - another avenue, assuming they are compentent.
Mr Mike www.mineexplorer.org.uk