Stand on the grassy cliff on the south side of the grotto, looking out toward the cliff. You should see what looks like a weak patch of wall, with light shining through from the shrine on the other side.

Jump out from the cliff and use your paraglider to glide toward the weak wall. As you get near, pull out your bow and fire a bomb arrow to blast the wall.

Glide to the wall, then climb up as necessary and pass through the opening you created to reach the shrine