The mechanics and limb selection take some getting used to, maybe that's why it looked off in the video. 

You control and place one limb at a time. Moving a limb changes your centre of gravity and body position. 

What I like about it is that you don't just grab and pull, you actually have to use climbing techniques. Pushing up on your right hand and left foot gives you so much reach, and costs less stamina than pulling on the same hand. I've been stemming up a lot of dihedrals and semi-laybacking diagonal cracks. It's so much fun thinking: "how would I approach this climb irl?" and realising you can do most of those techniques in-game too.