Having worked a gymnastics camp this week, I have found the most common problem with new wannabe kippers to be that they give up too soon.Especially when you first start, you're going to have to fight for it sometimes. You have to keep pulling in.
Also, as far as competition, one of my dearest friends struggles on bars with kips and was still allowed to compete and continue moving up because of her strength on the other 3 events. She made state with a 4 on bars as a level six. Don't get discouraged, either. She had a 1.9 at one meet and she never gives up. We used to count kips by team. Like if we had 4 girls competing level 6, that makes 12 kips total. Our team goal would be to make 12 out of 12. Even if she missed one or two, we would still have a pretty good record. This year, she'll be on my level 7 team as she continues working hard on her kips and we'll all be rooting her on, praying she makes them. All 4 of them in the routine.
Don't worry about not getting up on the highbar; a coach is allowed to spot you on getting onto the higbar to complete your routine after you have attempted and fallen with no extra deduction.
Best of luck to you.