Lipia is in Sword Art Online: Alicization —more specifically, she’s a supporting character from the Alicization arc and appears in the Underworld / Dark Territory storyline.

Quick answer

  • Anime: Sword Art Online: Alicization
  • Role: Supporting character
  • Where she appears: Underworld’s Dark Territory

Extra detail

Lipia Zancale is described as a dark knight in the Dark Territory, and voice- cast listings also connect her to Sword Art Online: Last Recollection as a game appearance.

Bottom line

If you meant the “Sword Art” anime, the character Lipia is from Sword Art Online: Alicization.