I Start at the open end, which is the near side in my set up..
brake lever on the back..
and double layer it, with new tape over old..

I don't , but I do have Ergon grips on 2 bikes with straight bars ,
not on the trekking bars..

there are rubber anatomic broad surface grips ,
without the hard metal clamp end of Ergon's
if you are so inclined..