once I was on a hill I could not get up (or at least that's what I believed) I got as close to the curb as I could and just leaned over and landed gently in the grass.
I still get scared on steep hills (wondering if I'm not going to make it) but so far that's the only time it's happened,

ps if you're not clipped in, it's a lot easier, just lean a little and put your foot out.