I am far from an expert in the right way to do it, but if your rig is sound, it is a reasonable endeavor. My wife and I are both rock climbers, so are pretty comfortable improvising.
Whithin our first week of sailing, she was up the mast, and I was under the boat with goggles freeing a centerboard.
This guy seems to have thought the whole thing out.
A pictorial, but without a complete redundant backup.