For drow:
From the cliff, up, 5s, nw, down, 3n, ne, e, 2se, s, e, down, 2e, sw, 2w, 2s, touch ice, w, se, s, e, sw, down, 3e, se, crevice, sw, down, 3s, w, 2s, down, sw, 2s, 2se, stairs, se, 2s, se, sw, s, portal.
For non-drow:
From the cliff, up, 5s, nw, down, 3n, ne, e, 2se, s, e, down, 2e, sw, 2w, 2s, touch ice, w, se, s, e, sw, down, 2e, crush rose (have a rose in your inventory; Paladins, Dark Knights, 'Gorak, etc., be sure to dismount before crushing the rose, or you are stuck in an endless loop, the result of a coding bug). The place where you land is believed to be somewhat random. You probably have to go east, perhaps a different direction, but eventually you go 2s, 2se, stairs, se, 2s, se, sw, s.
Return to the cliff:
From the portal, n, ne, nw, 2n, nw, stairs, 2nw, 2n, ne, up, 2n, e, 3n, up, ne, crevice, nw, 3w, up, ne, w, n, nw, w, 2n, 2e, ne, 2w, up, w, n, 2nw, w, sw, 3s, u, se, 5n, down.
If you are not a drow, once you pass Icefury, the drow warrior, it is an act of trespassing, and is considered a raid. Drow players will defend their home city.
Drow will also consider a non drow player in any part of the underdark to be a raider and will kill the non drow player on sight. The underdark begins once the wemic is passed.