*NOTE* You cannot get this achievement and the REBIRTH achievement in the same run.
In order to get this achievement you need to get Redento (The Barefooted Pilgrim) to his position in the Patio of Silent Steps while simultaneously progressing Cleofas' quest to get him to move to Archcathedral Rooftops.
To do this you can leave Redento alone until you have acquired all 3 "Mark of the Refuge" items. You get these items by progressing through the game to get the 3 masks needed to unlock the elevator in Archcathedral Rooftops.
Offer the 3 Marks of the Refuge to the NPC next to Cleofas in Mother of Mothers and he will move to Archcathedral Rooftops, just west of the first Prie Dieus checkpoint in the area.
Now progress Redento's quest until he is in the Patio of Silent steps and without speaking to him return to Cleofas. Speak to him once then leave and come back. He should jump from the rooftop with his body landing in front of Redento.
Return to the Patio of Silent Steps (you can jump off the roof if you have the Relic) and speak to Redento. After his dialogue the achievement should unlock.