If you haven't been to the Shaded Woods
From the Majula bonfire, head toward the path to Things Betwixt, but take the path to the right of it. If you haven't done it already, you'll need a Fragrant Branch of Yore to un-petrify Rosabeth of Melfia, who will give you access to the Shaded Woods. Head past the Old Akelarre bonfire and find the second, Ruined Fork Road bonfire.
If you can warp to the Shaded Woods
Warp to the Ruined Fork Road bonfire in the Shaded Woods. Head up the stairs, through the second door on your left and continue down the path, as if you were making your way to Drangleic Castle.
Walk up the staircase, at the end of the path and enter the Shrine of Winter. Examine it, and you'll warp to the Eleum Loyce, the land in which Crown of the Ivory King takes place. Check out the large video up top to watch the journey.