For Balthier :
After Bervenia , read the rumor " Rash of theft " at Gollund and " Call of Guards "to sleep. Try to advance in the story and you start a battle. Just win.
For Beowulf :
Go to Gouge. Then listen to the rumor Gollund . Then head to Lesalia and invite Beowulf to follow you Gollund . of fighting, he will join automatically you .
