You receive this quest at the very beginning of the game, i.e. right after you get to the Encampment. It consists in reaching the Gilded Vale; in order to do that, you need to complete the following quests:
A Moment's Respite - Thanks to completing this quest, you leave the Encampment and reach the ruins of Cilant Lis.
The Ruins of Cilant Lis - Thanks to completing this quest, you leave the underground part of the Ruins of Cilant Lisand get to the surface, where you will be able to start the proper journey. You need to go to the Valewood and take the southern exit from that location. This will allow you to reach the Gilded Vale. After you get to the village, take several steps ahead, which will initiate the meeting with Urgeat, completing this quest.
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