How to grab onto a ledge without climbing up

In Batman Arkham Origins (and AC incidentally), if I try to grapple onto a ledge from below (in order to silent-kill a guard), about half the time I'll hang from the ledge and the other half of the time I'll end up automatically climbing up, and therefore exposing myself to the guards.

Is there a way to grapple onto a ledge without climbing all the way up (i.e. hang from the ledge), so I can perform a ledge takedown?

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1 Answer

In Arkham City at least, this is accomplished by holding RB (or the F key if you're using keyboard) instead of tapping it.