how to change party member mid-battle?

[MEzZ]

i've seen footage of this happening but i'm not entirely sure what to press (i'm using a controller btw)

[TotemMX]

https://steamcommunity.com/sharedfiles/filedetails/?id=2599386855

[MegasonicZX]

Hold the left bumper button (basically like you're about to switch your lock on) and then use the directional pads to select whatever character you have set to each respective direction. With characters outside of the active party, you hold the left trigger down, hold the direction of the character that you want to switch with the d-pad in (a circle that fills up with purple will appear, wait until this is full), let go of the left trigger then hold the direction of the character that you want to switch out.