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You can look at abandoning the pursuit (press L to open the quest journal, find the quest, then click the Forfeit Quest option) - next re-accept the pursuit from Crow back the Dragon Knight camp. That should reset everything returning to the beginning.
Once you learn new expertise, you will view a "NEW" button seem to the right of one's tool bar. Clicking that will reveal a list with the new skills (including the Taming skill you study on this quest). It is possible to drag those new skills using this list onto the toolbar. Shortly when you crash land inside Brakarr forest, you'll receive a tutorial idea which walks you the way to this, but it's likely you have missed it. Buy Riders of Icarus Gold
You don't need to stand behind a creature to attempt to tame it -- but should you, you'll get an additional benefit to your accomplishment chance. That's not essential, though, and for a few creatures its challenging or impossible to sneak through to them.
As far as what direction to go once you join -- again, there ought to be tutorial windows that pop-up which walk an individual through this. But in the event you missed them... Media H to available the help food selection. Then click about Familiars > Taming. You can review the data there (although you're at that, take a look at all the other game methods -- that help menu is in fact pretty detailed). https://www.oforu.com/