Head to the right area on your map, and you'll find one of your clan members located near the edge of a high cliff. He'll urge you to head around to a better vantage point. Do so, then look up to where your fellow is perched. He'll leap out, like the protagonist in an Assassin's Creed game, and make a leap of faith to a pile of straw at the base of the cliff.
Explore the galaxy in the franchise's first open-world game.