In the garage, take either the central staircase with the escalators up or use the elevators in the side of the garage. Both are easy to find. Once at the top of the escalator turn right and walk towards the market on the Binnenrotte.

You can clearly see and aim for "the pencil" building visible through the glass facade. 21 Pinchos Tapas bar is on the left hand side of that same facade.