Yes, exactly as Amy describes. I started with the kuranda bed, then I used square pads made out of foam material. (I have some pieces of them, which can be put and fixed one on the other), so I could gradually increase the height of the pad. Then up on to a banc , a chair, first steps of a (stable!) ladder, steps of a chairway etc. As Amy writes - wait until it works with a lower object so solidly that you can put the behavior on cue. Then you can increase the difficulty a bit and also generalize the behavior with very different objects.