I rig a simple loop in my righting line. It hangs off the front crossbeam near the mast step. Normally the loop would be just under the water. It does not act as a ladder, it is something to push against when you can't quite get back on the boat.

I figured it out on the fly when a "crew" proved not strong enough to climb back on the boat and too heavy to lift.

I had a real eye openning experience a couple of years ago. Out of 34 people at a pool safety course only 2 were able to climb out without the ladder. That is a lot easier than climbing back on a boat