You will need the double jump relic, partner assist relic and Jonathan's skill 027 (Knee Strike). Equip Jonathan with the skill and make Charlotte your lead. Right when you're about to double jump with Charlotte, press the R button so Jonathan will use his attack. If done correctly, Charlotte's double jump will make Jonathan float.
I haven't experimented with it much, but in a New Game+, you can sequence break the 1st Egypt stage (as shown in the video).
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