This is essentially a storyline achievement. Your "objective" for the first portion of the game is to light four primal bonfires which are being guarded by four bosses.
In the interests of not spoiling anything or revealing any of the game's deadly secrets I won't include any information about the bosses or the areas you have to travel through to reach them. If you want to look up any information on your own, the name of this boss is
For this one you will need to travel down the large pit in the middle of Majula. There are a couple of different ways to do this without falling to your death but I'll let you work that part out for yourself. At the bottom of the pit you will find The Gutter which leads to Black Gulch. Fight your way through Black Gulch and there will be a boss battle. After defeating this boss look for a small cave entrance directly across from where you entered the boss area. You will find the primal bonfire in this cave.