Helm: Foot Soldier Helmet

Armour: Foot Soldier Tabard

Gauntlet: Foot Soldier Gauntlets

Leggings: Foot Soldier Greaves

Where To Find: 

(Click the link above to view the equipment and watch the getting video.)

The items are obtained by defeating Raya Lucaria Foot Soldiers who patrol the roads across various regions in Liurnia of the Lakes.

However, specifically, the Foot Soldier Gauntlets and Foot Soldier Greaves exclusively drop from the Godrick Foot Soldiers.