Now that you've mastered how to hang form a pull-up bar you can work towards doing a pull-up.  If you can't do pull-ups yet, start with negative pull-ups.  You'll step on a chair so you can get above the bar, hang, then lower yourself slowly.  Here's a video that gives a great demonstration.  The one thing I would suggest you change from what's shown in the video is to grip the bar with your palms facing away from you, as you did for the hanging exercise.  There's nothing 'wrong' with gripping the bar with your palms facing you, but the palms away will engage your back muscles more and is the aerialist's pull-up of choice.  Have fun!