Eiyuden Chronicle: Hundred Heroes

This is done at the mission guild, which has several prerequisites:

* Upgrade castle to level 2, requiring 100 food, 26 allies and 6400 funds
* Recruit Martha (find her in the castle town and talk to her), Gocteau (automatically recruited as part of the story), and Huang (find him in Hishahn near the appraisal shop [may require defending Hishahn before he'll appear] then catch a wheel-eyed bream, which can be found in Seaside Cavern or just southwest of Seaside Cavern, lucky charm on Nowa recommended)
* Build the pasturage (requires Martha, 20 lumber and 300 funds), fishing spot (requires Huang, 40 pelts and 800 funds), fishing spot product 1 (requires 50 pelts and 1600 funds) and finally the Mission Guild (requires Gocteau, 200 food, 40 pelts, 1 dire beastbone and 3200 funds); that's 20 lumber, 130 pelts, 200 food, 1 dire beastbone and 5900 funds
* Talk to Gocteau at the new guild in the top right corner of the first floor of the castle, put together a team, and send them on a mission