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the best way to to this is to be on the same block and create a party before you even accept the quest, then, you should just be able to invite them either via the nearby player menu or by the friends list.
There should be an initial story quest after the tutorial that unlocks the Forest Exploration as a quest so until that point is reached invites and parties are not joinable.
When you do get to that point, as long as you're on the same ship you can find each other. However, the party system is archaic compared to other games so you have to be on the same block to see each other and to invite/join each other with ease. If a friend is already in a quest and on the same block with you, they can find find your party with the "Join Party with Friends" option.
If you have not yet departed for a quest, you can transfer to a friend's block by going to the friends menu and clicking on their name and transfer directly to their block (or they can transfer to you) to make creating parties easier.