Recommendations for someone to prune a 20' palm tree

I have a palm in my back yard that I have grown too old and weak-kneed to prune back. It's in my back yard with no access for large equipment, so it has to be done from the ground, a ladder, or scaffolding at best.

It's really just trimming up some fronds and, more importantly, the flowers/seeds that are making a mess of my pool deck. I'm trying to figure out if it's going to be worth paying someone to prune it a couple times a year or am I going to cut this big bastard down.