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Just find a local caving club, they routinely organise courses for beginners and this is the best way to experience actual caving - you will learn all the proper rope ascent/descent techniques, and if you're into biology you'll have chance to meet all the right people. There's a whole group of biologists doing research in caves - mostly interested in bats, spiders and these crustaceans, and they're always looking for volunteers e.g. for bat counting.