[For now, she'll be tying the robe around the trunk one of the nearby trees with- actually pretty good skill. She did spend enough time on a ship after all

But throwing it up there would be another challenge entirely.]

Your familiar can fly, can't it? Get it to grab the other end and bring it up to you, then tie it on your side. Can you tie a bowline or something equivalent?

[She knew by now that the familiars wouldn't just carry him down, but maybe it would at least carry a rope.]