This is found in Undead Purgatory, a dedicated boss area with almost no exploration required. This is accessed by crossing the second stone bridge in Huntsman Copse and following the path until you cross the long, wooden bridge leading to this area.
The boss will be encircling around the area, destroying everything along its path. You have to keep your ears and eyes open to know when the chariot will arrive. The only way to avoid getting damaged is by hiding in the alcoves. However, the skeletons will pose a problem. Destroy the ones that pose immediate threat to you and find the necromancer. Kill it to stop the skeletons from respawning. There are two necromancers here; one is found in one alcove to the left from your starting position while the other is located to the right, near the lever. Take your time; the skeletons doesn't regenerate immediately. After taking out the second necromancer, make sure that no skeletons are roaming around.
Once clear, approach the lever and pull it to lower the gate. When the chariot crashes to the gate, the executioner will be killed and you'll have to fight the two-headed horse. It will charge and stomp, which you can easily anticipate. It also leaves itself open when its spewing dark mist. Ranged characters will be able to use this chance to pummel it with attacks. Melee characters can land a hit or two right after evading its attacks since it also has a bit slow recovery time.