Yes, while doing traditional rock climbing and sport (or bolt) rock climbing, both done outdoors. My longest repel was about six story high off a mountain side, but done in two sections with a small ledge in-between. I am now about ten years retired from rock climbing.
One can use your feet to push off from the face of the surface you are lowering down on. Then again, one can also repel down a rope from a helicopter for instance, where there is no surface to push off of.