Hello.
You simply don't have a "configurable" companion yet. You just probably met one of those many npc's, who can provide some help in a fight /like mercenaries/, but nothing more. You can't share xp with them, can't change their gear or give them battle orders.
Try to talk again with Adaon /I'm sure he's still waiting for you, where you left him

/. Later on try to find Grissenda and Hirge. All the fun is still ahead of You
Have a good game.