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From the parking garage where you got Grinko's driver, go back up the stairwell you went down from, into the hallway where a guard is (or was), then into a door on your left. There's a locked door in this room (and a camera above the door you enter from). Use your lockpick to get through it and go out to the balcony. When you go onto the balcony you'll see a window open. To your left is a pipe you can grab onto and shimmy to that opened window. That'll get you headed in the right direction. And a heads up - if you're going along that pipe and an alarm goes off for some reason, it means you didn't hide a body in a dark place earlier on. All you have to do though is go back and make sure to put anybody you KO'd or killed in dark places and you'll be fine. Lots of people new to the game have this happen to them at this part, so this is a nickel's worth of free advice 
-------------------------------- "The greatest trick the Devil ever pulled was convincing the world he didn't exist.
And poof. Just like that, he's gone." - Verbal Kint
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A little confusion there, when you exit the stairwell and are facing the opposite wall, the guard will be on the left (if you didn't KO him earlier) as will the door (left and across the hallway. If you are turned towards the guard that has his back to you, the door you need to enter is on your right, just past the guard.
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