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Give Rosabeth of Melfia something to wear.

She is the statue blocking the path to the Shaded Woods and you need a Fragrant Branch of Yore to free her. They can be found in a number of places:

Lost Bastille - in a chest after the Lost Sinner fight.
Lost Bastille - in a chest in the room close to Tower Apart bonfire.
The Gutter - on a group of corpses if you follow the path past the Forgotten Door location.
The Gutter - on a corpse just before entering the Black Gulch.
Harvest Valley/Earthen Peak - can find two/three from a number of chests/corpses.
Iron Keep - purchase for 7,500 souls from Magerold.
Majula - purchase from Merchant Hag Melentia for 12,000 souls.

Once she is free you need to give her some items (helmet, armour, gloves and boots) and you will then get the achievement and she will move to Majula. BE WARNED: anything you give her can't be taken back so make sure it's something you don't need.