No, you are just walking over really. That's how I typically do it, I don't jump anymore since I've gotten older and have lost some flexibility.
When I learned them and was to chicken S#!T to jump, I would actually walk directly onto the bars. I would put my left foot on top of the bars, then lift my right foot up and over the bars, then jump my left foot down off of the bars. So, for a second I was standing one footed on the bars holding on with both hands.
Once you are over the bars and sitting down, that is the barhop position really.