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Light all flames on the map in Majula.

After you find the Cardinal Tower bonfire go down the ladder in that room (the following areas have plenty of enemies but this is the route you need). At the bottom head left and through the door at the end, you'll be facing a fallen tree that makes a ramp upwards. About halfway up you can drop onto a doorway on the left, do so and then turn around drop to the ground. Run across to the ladder down here and climb up it. At the top cross the wooden ramp on your left and make your way to the roof of the house, from here do a running jump to the wooden platform in the corner. Then go right and drop down to the next platform. There is a cave on the left side, so head in slowly, a boulder should roll down so be careful. Once it passes go up the ramp and speak to Cale. He will give you the mansion key and you should only leave when he starts to repeat himself. Once you have defeated the Last Giant he will be back in Majula, in the mansion by the stone map. You now need to do the following to light the fires (be sure to light all nearby bonfires):

Defeat the Last Giant - Forest of Fallen Giants
Defeat the Lost Sinner - Sinner's Rise
Defeat the Old Iron King - Iron Keep
Defeat the Rotten - Black Gulch
Defeat the Duke's Dear Freja - Brightstone Cove Tseldora
Obtain the King's Ring - Undead Crypt
Obtain the Ashen Mist Heart from the Ancient Dragon - Dragon Shrine
Defeat Nashandra - Drangleic Castle

DO NOT CHOOSE NG+ straight away after beating the last boss. Instead head back to Majula and speak to Cale to get his gear and the achievement.