Tipping of one climate subsystem could trigger a cascade of subsequent tipping points and even global-scale climate tipping. Sequential shifts of atmosphere, sea ice and ocean have been recorded in proxy archives of past climate change. Based on this we propose a conceptual model for abrupt climate changes of the last glacial. Here, rate-induced tipping enables tipping cascades in systems with relatively weak coupling. An early warning signal is proposed that may detect such a tipping.