This is story related and can't be missed.
Just after finding the Apparth Ruins you will come to some ice with an option to cross it. I chose to go find help in a village rather than just cross. Not sure what happens if you select to just cross it without help, but as I have read this is story related so can't be missed, I assume you end up going to the village anyway.
When you reach the village of Royburg, you will do some story in a cave and then head back to the village. As part of wondering the village, you will meet a member of the knighthood. He is second in command. After chatting with him, this trophy will unlock