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The rope sections in most adventure races only involve ascending, descending, or traversing skills. You don't need to learn rock climbing, but it would give you a few benefits.
Rock climbing helps develop balance and coordination. It is a great way to develop visualization, which can aid you in times of difficulty during a race. It can improve hand strength, which benefits you during paddling and mountain biking. Indoor climbing gyms offer a great off season, cross training opportunity. Ascending
In most cases you will be provided a rope that will already be set up. All you have to do is get out your ascending gear, put on your harness, and start going up. Most races recommend using Jumars or Petzel ascenders. The gear you will need for a basic ascending system is; a climbing harness, two ascenders, two daisy chains, two etriers, locking carabiners, and a prussik loop. There are many variations on these systems, and there are some that are very light weight. In this basic system, the etriers attach to an ascender each, with a locking carabiner. The etriers hang down like rope ladders for you to step up on. The daisy chains each attach to the same carabiners. The other end of the daisy chain gets attached to your climbing harness. You will want to adjust the daisy chains so that the ascenders can not go out of your reach if you happen to let go of them. Mark the daisy chains where they are adjusted for easy set up the next time. The prussik loop is just a safety back up. Descending
Here again the rope will already be set up. All you have to do is put on your harness, get your descending device, and start going down. The devices vary for descending from tubers, ATC, figure 8, racks, or mechanical devices. Mechanical devices might weigh a little too much for these events since weight is a major concern. Some tubers or ATC might be too small for the ropes that the race is using. I have been to a race where the rope was thick and stiff, and a tuber or ATC was cumbersome to use. Traversing
The ropes will be set up. You put your harness on, clip your biners onto the rope, and jump, or slide off the edge. Sometimes you may be required to use a pulley to attach to the rope. Pulleys move freely over the rope, where carabiners drag with friction. Depending on how the rope is setup, it may sag in the middle. This will require good upper body strength to pull yourself up the side. Consider using a prussik to keep you from sliding back to the center. Most events that have rope sections in the course will have gear and skill checkouts. They will evaluate your systems, or perhaps require a certain system. I suggest getting your training from a qualified professional. Prepare your upper body strength for each of these skills.
http://www.adventuresportsonline.com/skills.htm
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German Quest Adventure Challenge 
