From the Cardinal Tower bonfire, walk out the double door you opened. You'll see a broken section of wall almost directly in front of you. You can jump onto the lower section of the broken wall on your right. It may take some effort and I recommend unarmed jumping attacks (forward and L2 or R2, depending on what hand is empty) - jumping left onto the broken wall from the ground to the right of it, next to where the wall is more intact.
Once you're on the broken wall, look towards the area where you can see some elevated platforms and a small courtyard. You need to run and then jump along the wall toward the closest edge of those wooden platforms. Be forewarned, you can not survive this jump without enough health or some means of mitigating fall damage. I would also suggest setting your jump to Left Stick rather than double tap B or O, this allows you to do precise jumps while still running as double tapping is much harder to time and can stop your run (turning the jump into a roll). You will need as much room as possible to start the running animation so go as far left as you can, line up the angle you want to jump at, and keep trying - it's not easy.
There's nothing over that can spoil anything by the way. You're just not supposed to get there until later.
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