You should first get past the guards.
But they are too high!
I have it
There is a piles of hay at the left.
You would need to cut them.
Did you notice one of the spikes on the wall is broken.
Near Reynard. Take if off. ( Use your telekinetic powers to detach it. )
Use your telekinetic powers to detach it.
Use the spike on the hay stack to make it easier to climb. Anna can now climb the haystack.
Help the king ( Use telekinetics to drop the fruit. )
. The other guard is now free.
Use telekinetics to drop the fruit.
As the other guard is now away you can use the telekinetic powers to the spear.