Going to try to explain as best I can without drawing out literal routes on the maps. Hopefully it halps. D:
First map: Use the route @G-7 to get to the steps @F-7 in order to get past the gate where Dark Spark is, which will lead you to the next map.
Second Map: As you can see on the map there's 3 routes all packed into the area marked "A", and you'll be on the top of the 3 routes allowing you to the top section of the map. In the center of the map you can see there's a route leading straight to the Keep. In order to get there you need to be able to get to the steps in the very bottom-left of H-7 which means coming from the outside path of the map to the inside via the 4 different corners of the 2nd map that each have steps. You should be able to reach the path needed by using either the top-right corner or the top-left corner, but one of them will run you into blocked paths so it's trial and error in this instance. As long as you know where you need to get to it's just a matter of figuring out which path to take. I'd be more specific, but I haven't personally done this in awhile. lol Good luck!