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First off, find the location you want to use. I suggest a brick building. Then, once you have decided on the location, find a strong rope that is long enough to go from the top of the location to the bottom. Attach the rope to something at the top of the location i.e. a railing, a pillar, or if there is a hole somewhere put the rope through it and attach a plank of wood to it.
Then simply climb down the rope. Sounds simple, but doing it down three stories is bloody hard. Me and my mates spent the day doing this and it was amazing. You can also use the rope to climb up again. Just keep checking that the rope is secure and safe, and you will be fine.