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Assassins Creed III Walkthrough Sequence 8 - Public Execution

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After the cut scene make your way to the Gallows.

When the hood is put over your head, press the assassin guild button.

When you're dropped to the ground you need to sprint to Hickey as fast as you can before he reaches Washington. When you reach him press the attack button and you will be able to take him out.

After you've killed Hickey follow Achillies interact with the door and the mission will end.