Potential gravitational energy is computed with the formula:

Where:
PEgrav = Potential gravitation energy (J)
m = mass (kg)
h = height (m)
g = acceleration due to gravity (9.8m/s^2)
Take note that acceleration due to gravity is a constant.
All you need to do is put in what you know and solve for what you don't know. So your given is the following:
PEgrav = 3,528J
m = 24 kg
g = 9.8 m/s^2
Put that into your formula:




The height of the cliff is 15m.