If you run into a wild beast, your team of allies will enter a turn-based battle where you can select commands and issue orders to guide their actions. You can give specific orders just for the current turn, set overall tactics for your monsters, try to scout (recruit) monsters into your collection, use items, or attempt to run away!
Winning will earn you experience points, which add up to make your team stronger, and you’ll also receive some gold coins and maybe even some helpful items. Winning will also sometimes earn you skill points, which you can allocate to improve and develop your monster’s skills - this lets you customise your monsters in a very personal way.