He told KPIX 5 that it took about 10 minutes to climb to the top of one of the bridge's famous towers.
"One of the youths, Peter Teatime, tells the Los Angeles Times that he and a friend made a decision to climb the bridge "on a whim" at 3am one morning while visiting San Francisco last month on spring break".
The men - identified by the LA Times as Peter Teatime and Tommy Rector - apparently began their climb from the west sidewalk, which is generally used for cyclists and maintenance vehicles.
Teatime is an experienced parkour enthusiast, as his YouTube channel shows.
'I've had lots of experience in climbing at great heights, such as cranes and skyscrapers, so I wasn't nervous at all.
A news conference was held at 1 p.m. on Tuesday to discuss the investigation into what happened.
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Officials with the Golden Gate Bridge, Highway and Transportation District held a news conference to address the unsafe stunt. Officials said someone sent them a link after it was posted online - about a week and a half after the original video was posted online.
"Our systems were not created to protect against a reckless individual climbing without any fall protection, any harnesses or anything, who's physically adroit, and in an area where they can not harm the bridge", Mulligan says. The actions of these individuals did not harm the structure, nor could they have harmed the structure. "It allows you to look over the entire security plan for the bridge".
A week before the landmark structure's 80th anniversary, a couple of miscreants scaled to the top of the Golden Gate Bridge and dangled off the cables.
Mulligan said the two men climbed vertical suspender ropes without any harnesses or fall protection.
"There was a similar trespassing incident Golden Gate Bridge approximately four years ago", states Priya David Cameron, spokesperson for the Golden Gate Bridge, Highway and Transportation District. The climber then stepped one foot off the beam and held on to the cable with one hand as his body hung over the bridge.
Separately, last month, work began to install a stainless steel net under the bridge meant to prevent suicide jumps.