Ingo Renner (four times world gliding champion) reportedly demonstrated dynamic soaring in a human-carrying glider in 1977[1].

Trying to do so in the boundary layer at ground level would be extremely dangerous, if at all possible, but Renner's insight was that there is sometimes an exploitable windshear at a safe altitude, on the boundary of an inversion.

From the article: "Renner has been attempting dynamic soaring for about four years, and the difficulties can be gauged from the fact that he has achieved only four really successful flights in that time."

[1] Flight International, 22 October 1977 reprinted here (PDF): https://www.sac.ca/index.php/en/free-flight-magazine-2/1970s...