good question, i had that problem when i first got unite. Let's start off with the basics, in order to get a felyne comrades, you have to hire one from the old lady. (You can hire up to 9) After that, go in the kitchen, look to your right, there's suppose to be a board. When you get to the board, press square, then go down two, it should say activate comrades. Press X, then click on the comrades you want to bring on quest.
