The present disclosure is directed to a system and method for lifting and/or removing a rotor blade to and from a wind turbine. In one embodiment, the system includes an up-tower pulley mounted on an up-tower location of the wind turbine, first and second ground winches, a pulley cable from the first ground winch over the up-tower pulley and attached to the rotor blade, a guide line attached between an up-tower location of the wind turbine and the second ground winch, a guide pulley mounted on the guide line, and a guide cable from the guide line over the guide pulley to the rotor blade. Thus, the guide pulley is configured to move along the guide line during lifting and removing of the rotor blade so that the guide cable can control an orientation of the rotor blade relative to the tower during lifting and removing of the rotor blade.