For those who can do pull-ups, how did you get to that point?

Any pointers on something I'm not training that can help?

I'm in decent shape, though maybe slightly overweight. I am 5'10" and weigh 190lbs. At nearly 32 years old, I can run 2 miles in 15 minutes, can belt out 80ish push-ups in two minutes, can bench almost twice my body weight. Yet I cannot do a single pull-up.

For those who can do pull-ups, how did you get to that point?
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