Here is the full list of all 24 Alwa's Legacy achievements.
Finish the game
Finish the third chapter
Find 100% secrets in all areas
Fully upgrade all magic gemstones
Transform every Save Point into a Warp Point
Have the Incantation of Orbis fully maxed out
Help a Knight realize her true mission in life
Light every single torch in Ancient Catacombs
Reunite a father with his son
Finish the second chapter
Defeat Queen Eydie
Finish any boss without being hit
Defeat Desmond Grim
Defeat all Guardians
Defeat Sir Pent
Finish the first chapter
Defeat Imprisoned King
Kill any enemy from above using a block
Upon waking up, immediately jump into the water
Finish Pacifist Mode
Carry exactly 3 Keys, 3 Tears and 3 Petals in your inventory at the same time
Make it over Kloki's Bridge without being noticed once by an enemy
Use Incantation of Umbra three times without touching the ground in between
Defeat any boss using only the Incantation of Orbis