Hang from the edge of the second tier and release to grab the horizontal pole when it passes below.

Traverse towards the tower and wait for a ledge to pass below. Release to grab it.

Then release to grab the next ledge as soon as it passes below.

You can now wait for the next horizontal pole to pass below or skip it and directly grab the next handhold. If you go for the latter, you will have to save Lara from the long drop by pressing the Interact button.

Traverse to the next handhold (it will be to the either left or right) and release four times to land on the first tier.