Team Registration - a way to complete difficult challenges | Introduction DB: Xenoverse Guide

You can recruit any person with a yellow name

Even if you're playing offline, you can use Team Registration. It allows you to pick a team out of other players or NPCs marked in yellow. After you register your team, approach any player or NPC and enter their details. If they have skills or level that you're looking for, you can hire them (in case of players, you'll need their permission). Many NPCs have a high level and interesting skills, so they might be much better as your companions than characters from Dragon Ball: Xenoverse. You can recruit a team made up of three people, so you + two companions.