How to climb a rope?

Hi there, I've seen many subjects on ropes here, but none really cover how you would code being able to climb up a physics based rope. I have created some great looking rope via hinge joints.

I think I can figure out how to attach my player to the rope (parenting), and even sway the rope with the player (addforce), but how would I go about climbing the rope?

Thanks for your help!

-Eric