[step:Compute $\langle X^i, N \rangle_t = H_{t_{i-1}} (\langle M, N \rangle_{t_i \wedge t} - \langle M, N \rangle_{t_{i-1} \wedge t})$]Fix $i \in \{1, \ldots, k\}$. The process $X^i = H_{t_{i-1}} \widetilde{M}^i$ where $\widetilde{M}^i_t = M_{t_i \wedge t} - M_{t_{i-1} \wedge t}$. By the characterisation of covariation (part (i) of the [Properties of Covariation](/theorems/2086)), $\langle X^i, N \rangle$ is the unique continuous finite variation process starting at $0$ such that $X^i_t N_t - \langle X^i, N \rangle_t$ is a continuous local martingale.
We claim $\langle X^i, N \rangle_t = H_{t_{i-1}} \langle \widetilde{M}^i, N \rangle_t$. To verify this, consider
\begin{align*}
X^i_t N_t - H_{t_{i-1}} \langle \widetilde{M}^i, N \rangle_t = H_{t_{i-1}} \left[ \widetilde{M}^i_t N_t - \langle \widetilde{M}^i, N \rangle_t \right].
\end{align*}
The bracketed process $\widetilde{M}^i N - \langle \widetilde{M}^i, N \rangle$ is a continuous local martingale by the characterisation of covariation. Since $H_{t_{i-1}}$ is bounded and $\mathcal{F}_{t_{i-1}}$-measurable, the product $H_{t_{i-1}}[\widetilde{M}^i N - \langle \widetilde{M}^i, N \rangle]$ is again a continuous local martingale (for $t \geq t_{i-1}$, $H_{t_{i-1}}$ is $\mathcal{F}_s$-measurable for $s \geq t_{i-1}$ and can be factored out of conditional expectations; for $t < t_{i-1}$, both $\widetilde{M}^i_t = 0$ and $\langle \widetilde{M}^i, N \rangle_t = 0$). The process $H_{t_{i-1}} \langle \widetilde{M}^i, N \rangle$ is continuous and of finite variation (since $\langle \widetilde{M}^i, N \rangle$ is, and $H_{t_{i-1}}$ is $\omega$-dependent but does not depend on $t$). By uniqueness,
\begin{align*}
\langle X^i, N \rangle_t = H_{t_{i-1}} \langle \widetilde{M}^i, N \rangle_t.
\end{align*}
Now compute $\langle \widetilde{M}^i, N \rangle_t$. Since $\widetilde{M}^i = M^{t_i} - M^{t_{i-1}}$, bilinearity of the bracket gives
\begin{align*}
\langle \widetilde{M}^i, N \rangle_t = \langle M^{t_i}, N \rangle_t - \langle M^{t_{i-1}}, N \rangle_t.
\end{align*}
By part (iv) of the [Properties of Covariation](/theorems/2086), $\langle M^{t_j}, N \rangle_t = \langle M, N \rangle_{t_j \wedge t}$ for each $j$. Therefore
\begin{align*}
\langle X^i, N \rangle_t = H_{t_{i-1}} \left(\langle M, N \rangle_{t_i \wedge t} - \langle M, N \rangle_{t_{i-1} \wedge t}\right).
\end{align*}[/step]