When you first spawn in on Earth, if you look to your right there is that square building with a load of Dregs and Vandals outside it. If you go underground from there, you see a room that is empty with a chest room in it, normally 2 yellow bar acolytes and 1 yellow bar knight will spawn in there.
This trick to get these spawning again is that you can run outside the room to the left a bit and run back, by the time you have got back in they will have spawned again but if you here the sound of a skiff coming in, you will need to kill those fallen which are located right next to a patrol mission beacon on the right. After this you can you back down to the spawn and the majors should be there waiting for you. I will make a YouTube video on it if people don't know where I am talking about.
Edit 1: This is mainly for Christmas noobs so don't be hatin' and stuff just because most of you will already know of it.
Edit 2: DON'T TURN RIGHT AND WALK OFF A CLIFF.
Edit 3: You can go both ways, left or right.
Do the worlds grave mission on level 10. When you get to the part were you have to kill the knight for the key to the world grave kill the four acolytes that come out. They have yellow bars. Then die and do it again. That would be 8. Then do it again
Ps: don't kill the knight because that makes you go to the next checkpoint in the story. Then when your done just go to orbit. Then you will always have that checkpoint whenever the bounty comes up