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How to do a parkour vault
Know what you're aiming for.
A vault is any jump using at least one hand. There are very many different vaults, all equally fun to learn and perform.
Think dash vault, kong vault, or speed step, to name just a few. The one thing that sets vaults apart from other moves such as swings, running jumps or arm jumps is that they carry you over a hip-height obstacle using at least one hand.