I am very comfortable working on the gutters (usually just cleaning them) from one story up by just sitting on the roof. I do this on my own home over the garage and at my parents one-story home.
I noticed some debris in the gutters on my 'big roof' on the two story part of my home. From past experience I have not been comfortable working on gutters from the roof on two story houses.
I am generally comfortable with heights and safety harnesses. I get to go climbing and rappelling a few times a year. I would prefer that if I fall to my doom, it happens doing something cool on a mountain. Not cleaning my gutters and falling on my shrubberies.
What is the correct (safe) way to address gutter problems? From a ladder? From the roof?
If either is acceptable what precautions need to be taken?