After meeting Marle at the Milennial Fair, go to the forest to the west.
Visit the Forest
Go west from the fairgrounds and enter the forest.
In the wooded area, go left to fight some Imps. Then go left again to get to the next area.
After climbing the ladder and crossing the bridge, go all the way to the left to find a chest (Tonic). Then go right and down to find another chest (PowerGlove). Be sure to equip the PowerGlove right away.
If you go to the Inn, don't bother paying Toma for information. You don't need it.
Now enter Guardia forest. Go up and right (hug the trees below to avoid a fight) into a grove. You will see two sparkles on the ground. Check the top one for a Power Tab, but not the bottom one. It's a trap.
Next, go up to the mid-section of the forest, and check on a bush that is between two trees. If you get attacked, you checked the wrong bush. If you checked the right one, a monster will come out and drop a Shelter. You can get a Shelter from this monster every time you enter the forest. Continue hugging the line of trees as you head north to avoid fighting.
Go into Guardia castle. Don't open any chests inside the castle. If you do, you won't be able to get better items from them later.
You can go left and down the stairs and talk to the girl to heal up. Go up the upper-right staircase in the throne room, and keep going up the stairs to get to the Queen's room. Talk to the Queen, then step forward when she asks. Walk forward again when something is wrong.
Run downstairs and Lucca will join you. Equip her with the Bandanna.