Daldean, on the map you have the undead tower would be "K", with "6" being the entrance to the tower.
The way I usually get there is through the town part of the zone and jump down the waterfall to where Yael spawns. Then go up the ramp to the undead tower. There is the other way to get there going down the ramp from another way but I've never used that route in the past so am not too sure.
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