I had 6 people in the court doing it. It is essentially the crota's end fight but in a confined space. One guy get's the sword from the yellow knight, and the rest shoot the bosss until his shield goes down. He then goes into a crouched position, and at this time, the guy carrying the special sword can swing at him to damage him. Rinse and repeat from here. Make sure to kill the wizards as soon as they spawn.
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I didn't see a yellow knight spawn when I tried it
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You tried it in the first mission. You can summon him with an Antiquated Rune in the court this week and a Swordbearer will spawn as well.