One way is to talk to the dude talking about a tour. He will tell you how to get there and then it will open up on the map. There is a few nasty surprises on the way there though, so make sure you are ready.
Oh yeah, In Ulgoth's, watch out for the mage too, unless you have already completed the task about finding his stuff. He'll gate ya without a though. Just to let ya know.
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