Along the way you will be introduced to your first weapon. Equip this and slay any beast that stands in your way. Your Heroes menu will also show up around this time.
Immediately after recruiting your first hero your next menu will show up on screen. Formation. The hero you just recruited will now automatically be added to your formation introducing you to the navigational aspect of adding heroes.
Don't forget to pick up your random treasure box laying near Brenda. Its got some free coins waiting for you in there.
Now it's time to engage the Darksun Shaman. After you kill the boss head back to Aerie city and find Letizia.