Outgoing Principal Clerk, Very Rev Dr John Chalmers, former Moderator of the General Assembly Dr Russell Barr and former chief executive officer of CrossReach descended 165ft from the UNESCO World Heritage Site.
Speaking with Premier, Dr John said: As we were crossing, going out to the pillar, a couple of trains passed overhead and your realised you were a long way up. But, what a fantastic view? So, we just kept our head."
The three men raised nearly £12,000 for the social service division of the Church of Scotland, known as CrossReach, from the stunt on Sunday.
Dr John went on to say: "[It was] a spectacular day. I suppose you could say we were all just a little bit apprehensive but once we realised the rope was going to hold us, we took our time."
Like the angels on Jacob's ladder, ascending and descending. The 3 Formers being brilliant for Crossreach @churchscotland pic.twitter.com/TS7thXYWHf
— Derek Browning (@DerekBrowning2) May 28, 2017
It is hoped the funds raised will help vulnerable people including those struggling with addiction or mental health issues, and families affected by dementia.
Speaking about the decision to tackle his fear of heights for the stunt, Dr John added: "Isn't it a fairly irrational fear in a way because you know that everything that is around about you is going to hold you.
"You just have to put it to the back of your mind and when you're doing something for a good cause, it's easier to do that."
Click here to listen to Premier's Alex Williams speaking with Very Rev Dr John Chalmers: