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