Ingress: The safest (and stealthest) way into the Dogon village is from the northeast.  Creep along the northern edge of town working your way to the stone staircase leading toward the glider (green star).  Once you start up the stairs, turn around (at red crosshair) to snipe the mortar guard on the flat room top (red star) to clear the way to complete your mission.

Egress: Make your way up the stairs to the glider (green star).  There are several staircases so don't become turned around.  Fly along the river to the fork: veer left to go to a safe house.  Veer right to end up near where you left your vehicle during ingress.