I've done this at least twice now. First time I jumped (read fell) on accident. Went back to town, sold a lot of stuff, and repaird everything, and came back, tryed to jump from wall back in, and couldn't, so went to the door that you start at after you get in the first time, and had no problems getting in, and just had to go through the entire castle again. So, just try the door. I've used it twice with no problems.
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