Sarah and Chester are the first characters to join your Force. After the messenger comes to get Astral, they'll decide to sneak into the castle and as of then they are your teammates.	After your first battle you are sent on a mission to fetch an old man named Hawel. As you are about to leave the town, Jaha (who has apparently woken up by now) joins up.
You'll first meet Kiwi when the pet shop opens in Granseal before you leave to get Hawel. When you return, he's been set loose and is only too pleased to find someone to look after him.