They took two weeks to climb the daunting 2,000ft-high prow – sleeping in special hanging tents with a perilous drop beneath them.
The flat-topped summit of the 9,000ft mountain is said to have influenced Sir Arthur Conan Doyle's novel The Lost World – where dinosaurs roam the area – and the 2009 animated movie Up where characters arrive in a house floating with the help of thousands of balloons.
Miss Taylor, from Windermere, Cumbria, was the youngest member of the team on the month-long expedition facing venomous spiders, snakes, scorpions and swamps led by fellow Briton Leo Houlding, 39. Their climb on the new route on the prow – labelled the 'wall' – saw them roped in at all times on the vertical face.
Now back home, Miss Taylor said: 'It was the most incredible experience of my life. 'The whole wall is really steep and it's very physically challenging to tackle. We slept in 'portaledges' up there – essentially special hanging tents for rock climbers that you attach to the side of the cliff.
It has a 20 square mile flat summit, surrounded by cliffs on all sides. Mr Houlding's team did not have to climb back down again after reaching the summit earlier this month. Instead, they were carried from the plateau by helicopter.