How to Get Additional Heroes
From Iron Grip: Marauders Library
Your Starting Heroes
When you start playing the game, you will have two heroes: Emilia and Vancer. They are both combat heroes.
How to Get More Heroes
You can get more heroes by playing through the quests. As you advance through the story, you will meet talented individuals who will join you. The first new hero you can get is Harald, in the fourth mission of the Trader quests.