How to get out of the Ice Palace in Zelda A link to the Past?

There are portals in the light world that will take you directly to the dark world. They are only accessible after first accessing the dark world, and oftentimes are blocked off by items that you obtain in dark world dungeons.

https://www.zeldadungeon.net/wiki/A_Link_to_the_Past_Warps

The closest one to you is probably also the closest one to the swamp palace. It is located in the screen just north of the swamp palace entrance, behind a row of pegs that can be smashed with the magic hammer.

To add to the previous answer, you can get back to the Dark World by walking through the Castle Gate. It will put you at the bottom of the pyramid.

Also, just save outside of Ice Palace in the Dark World. When resuming a Dark World saved game, you appear at the top of the Pyramid.

There are three ways you can get into the Dark World and a fourth point in the game where you are transported into the Dark World forcefully:

• Across Hyrule there are eight warp pads that offer you a direct access to the Dark World

  1. On top of Death Mountain south of Hera’s Tower
  2. Between Kakariko and the Lost Woods (needs hammer or Titan’s Mitt)
  3. South of the Eastern Palace (needs hammer)
  4. In the North-West of the Swamp (needs hammer)
  5. The Island in Lake Hylia (needs Titan’s Mitt, the way to access the Ice Palace)
  6. South-Western corner of the desert (needs flute, the only way to get to Misery Mire (called Desert Lake in German, fun fact))
  7. Southern Death Mountain (needs Titan’s Mitt; not one you’ll usually come across)
  8. North-eastern Death Mountain on a little hill that will turn into Turtle Rock (needs hammer and Titan’s Mitt)

  As soon as you are able to reach one, you can access the Dark World whenever you wish; compare the warp pad near Hera’s Tower which you are supposed to use to enter the Tower and recover the Moon Pearl.

• When in the Dark World you can use the mirror to reaccess the Light World; this will leave a teleport location in the Light World at the point where you came back to reaccess the Dark World in the same spot.

• After defeating Agahnim, the castle gate is turned into a warp into the Dark World; it drops you at the foot of the pyramide

• involuntarily, you are warped into the Dark World after defeating Agahnim (upon which the warp at the castle gate is installed).

Each of these methods can be used independently; i.e. even if you used the mirror to leave the Dark World you can still use the warps to enter it at a different spot.

To get to the Swamp Palace, the warp in the North-West of the Swamp is the most convenient but note that you have to go back and forth between the Light World and the Dark World to fully enter the Swamp Palace.