The man, Dan Goodwin, is an experienced climber also known as "Skyscraper Man."
Goodwin started climbing the 60-story residential tower around 2:15 p.m. He completed the climb just before 5:30 p.m. and was immediately taken into police custody. Goodwin was cited for trespassing and public nuisance and released.
Goodwin has a history of climbing skyscrapers. He says he climbs to raise awareness about the vulnerability of buildings to terrorism and about his person bout with cancer. He climbed the World Trade Center in 1983 and the Sears Tower in 1981.
San Francisco police and fire officials monitored the climb.
Goodwin used large, suction cup-like devices during his free climb. Building residents were seen opening their windows and offering him water along the way.
Mission Street was closed from Beale to Fremont streets.