The sequence is worth learning as a single motion.
Before the fight. Put Psychic Celerity (15 pts, TERMINATOR model only) on a Grand Master leading the Paladins, so the charge you need is one pip more likely. This matters more than it reads, because everything below assumes the charge lands.
Your opponent screens the Paladins. Good. That is the expected play and it is now a mistake.
Your Movement phase. Fall back out of the screen. Under Duty Before All you are still eligible to shoot and to declare a charge.
Your Shooting phase. If the Paladins are in range, storm bolters fire. Consider Point-Blank Purgation (1CP) if you would rather stay engaged and shoot with [PISTOL] and [TWIN-LINKED] instead of leaving.
Your Charge phase. Charge the actual target, not the screen. Spend Grind Them Underfoot (1CP) after the charge move for up to 6 mortal wounds before anyone swings.
Your Fight phase. Dauntless Champions is live if the target is tougher than your Strength, which against a monster, Knight or heavy vehicle it will be. Spend A Threat Ended (1CP) so your attacks have [PRECISION], and allocate the wounds to the character leading the enemy unit. Add Giants of the Battlefield (1CP) for +1 Attack across the squad if the target is worth it.
That is a squad that walked out of a tarpit, arrived where it wanted, and killed a character it should not have been able to reach, using rules from both detachments in one turn.