Legit way to proceed in one part of the game?

[Mairo the bear]

I got to King's palace, after getting two keys, I proceeded to eastern part of the palace (looking from enterance, right side of palace). Now I got everything in there, but I couldn't get back up to proceed to west side because there was this fence I jumped over. It was small to jump over first time but there's immidiate drop preventing to get back up the same way, no matter where and how jumped. I ended up using the side of the door as platform.

http://steamcommunity.com/sharedfiles/filedetails/?id=499193394
(lol at weapon change animation which was triggered with big picture playstation+R2 combination for screenshotting)

Now my question is, what is the legit way to get out of there?

EDIT: nvm, I realized crouch+jump also acts as higher jump instead of double jump. I only used it as crouch+jump+attack like in the tutorial.