To this day, I still can't do a pull-up without using the assisted pull up machine. Yet, I can hold my weight flawlessly on the pole....how? Magic! Just kidding....it's the well-known push-pull concept.
When I first started poling years and years ago, my fabulous instructor explained push-pull in our Day 1 intro class. Take a look at the picture below. You can't tell but this young lady is pushing with her bottom hand and pulling with her top, She's not "hanging" on the pole. The opposite force of pushing and pulling is what is keeping her afloat.