Yeah, that was painful to watch lol! That Bonfire that you could see through the wall but couldn't figure out how to get to, all you had to do was hit the wall with your sword and it would have smashed open.
I don't want to spoil too much, but of the last two Lord Souls that you need, the one you are heading towards is much more difficult than the other one. At least getting to the boss anyway. You should take another look around Majula and you might find another path!