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From here, you can join him to fight an optional boss, scoring the Toast emote and a cask of Siegbrau, which can be traded with the crow at Firelink Shrine, by chatting with him afterwards.
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Leave the area (or die) and return and you can meet him on the hidden middle level. You'll first meet Siegward of Catarina when you enter the tower in Undead Settlement. The "onion knights" of Catarina return in Dark Souls 3.
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Find Siegward's armour and get him out of that well.
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