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Try google the way
There are numerous routes. Using a homeward bone would be a good idea to get back to the bonfire you last rested at.
Coming out of Quelaags, head towards the bonfire in BT -- it will be on your left.
http://www.kouryakubo.com/darksouls_en/image/maps/map07_blighttown_en.gif
It's a wooden platform that you can jump onto given your timing is right. It will take you up and from there you will have to climb several ladders to escape BT.
Edit: I just found a Youtube video -- I didn't watch it. But, I think it'll help you.
https://www.youtube.com/watch?v=hKa_e2dCM2U