I found out how this worked.
First, you must accept the quest from the stele you wish to tele to. Attacker steles are red. Defender steles are blue. If you die, you can go back to that stele ONCE by stepping into the orange spot with the swords on it in the base. If you wish to do this again, you must take the quest again. This will not work if the enemy has destroyed that stele.