I breath a little easier when my guys have a helmet on. Becuase kids have such a high center of gravity, it is easy for them to flip upsidedown when they fall ( or so I have been told) we often use the all purpose bicycle roller blade helmet.
Helmet's the ticket...the full body harness keeps drew pretty much upright. He also has the "walk your feet down the wall" thing down, so he doesn't scrape the wall as he lowers...
Thing one and Thing two call that the L sit we prctice at home to jog the memory. Ya the reason for the full body harness is to keep them upright... I don't think either of the boys have taken much of a fall. We have not tried bribing them to get them to climb higher. I figure if they want to climb, they will. If not... well no skin off my nose
I save the bribing for the picking up of the room