Shoot them. trap them, remove whatever it is there jumping up on to get up there.
Watch and see why there climbing up there, not a normal thing for them to do inless you have a bird feeder sitting or near the window.
When squirrels get on our deck and house, we shoot them and they leave us alone for a long time. Where we live we can do that. If you can harass them in other ways it could work for you. Pellet guns? Rat traps?
Consider trimming/cutting limbs, branches, etc. Joe is right about the bird seed. Spilled seeds bring rats, squirrels, mice, etc.