If you haven't picked easy mode in the beginning you will have to find the NPC who gives you the teleportation key. To do so you need to have defeated Kaali and then you must talk to Agnes (woman outside the village by the bonfire) and do scavenge hunts with her.
If you find a cave with a large stone door (when you explore with Agnes) and four levers in front of it you are at the right place. Solve that little puzzle and talk with the NPC behind that door.,