Turn right and start climbing where shown. You shouldn't have any problems, especially since no one will be attacking you this time.
Your destination is the top ledge. Approach the rope bridge and leap up to grab onto the rope. When you land, go straight ahead, leap up to an interactive wall and make your way up using the climbing axe. Lara will soon find herself in a new location, Fortress Tower.
Given that one of the guards set the tower on fire, you'll need to act fast. Start scrambling up the wall, as seen above. When you reach a new ledge, turn right and leap over to further interactive ledges.
Move far to the right and leap over to an interactive wall, once again pressing the action button. At the end of the wall, go right and you'll proceed to the next stage (reward: 400 XP).