I always kill the guys on the tower before I trigger Taurus, so that when I run up there I have time to line up a good jump. Even if you can't get this part, Zamiel is right about the Gold Pine Resin...it saps a lot of life from that demon.
when you come out the misty door run up the battlement to get TD's attention, turn run back and go up the ladder and kill the 2 dudes there. TD will be close behind on the ground. lock on to him and then jump down on his head holding RB or RT can't remember
which. RB I think. if u hit him correctly it will take half of his health straight away. after that i nailed him with some long distance magic and some close quarters stabs in the ***. good luck.