How to make NPC's join party temporarily?

[Vestille]

I looked around on the web and wasn't finding anything about this but I'm not sure if I would need a whole seperate script for this. How can I make NPC's temporarily join my party (follow me around and attack monsters with my current troup) without letting the player control their actions? Any answers would be great, Thanks.

 

[Rinobi]

Recruit them as if they're a normal actor and give them the Auto Battle flag. Fix their equipment if you don't want it change.