OSHA standards do not prohibit employees from exiting or entering an aerial lift basket that rests on or adjacent to an elevated surface. Section 1926.453(b)(2)(v) requires that employees working from aerial lifts be tied-off. On the other hand, when employees move from the basket to the elevated surface, the requirements in 29 CFR Part 1926 Subpart M apply. In particular, §1926.501(b)(1) requires fall protection at 6 feet above a lower level. A worker may enter or exit an aerial lift (at heights above 6 feet) provided that fall protection such as guardrails or a fall arrest system is used while the worker moves between the lift and the working surface. A fall arrest system and its components must meet the criteria in §1926.502(d). During entry to and egress from the lift, a worker may tie-off to the lift (if the lift is designed to withstand the vertical and lateral loads imposed by the employee's movement itself or by an arrested fall) or to an appropriate nearby structure.

As long as you are practicing 100% tie off (i.e. two lanyards) you can utilize a lift basket to access an elevated working surface.