A descending lifeline is the only self-escape fire apparatus for fire in high-rise buildings and is installed inmost buildings according to fire-fighting law. However, it is difficult to properly use and quickly evacuate during an emergency due to its complex installation methods and procedures, even if users are pre-educated. In this paper, a new one-touch descending lifeline, which simplifies usage procedures and can be used regardless of whether users are educated, is proposed to solve the drawbacks of the conventional descending lifeline. All separate parts that require additional installation are initially assembled in a box, and the concept of a double square linkage is proposed to enable escape in a single motion of pushing the handle attached to the box. Three steps of kinematic design are explored to determine an appropriate configuration of double square linkage, and its dimensions are determined using Matlab and NX CAD software. The proposed all-in-one descending lifeline also follows the enforcement decree of the Fire Control Act, and its feasibility is verified through fabrication.