How to recruit the 7 companions:
1) Knight
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You will meet her in the forest west of the starting village. Make sure you help her kill the boss before you enter the 2nd village.
Afterwards, talk to her in the barracks in 2nd village. (If she is not there, you screwed up)
After talking to her, head north to the mine and die. Pick up the sword from the dead guy near the stairs (choose the last option gives you a title for being a good person, but lock you out of getting the knight...)
Go back and give her the sword, turns out the sword belongs to her lover.
2) Loli Trio... Blonde
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Go to the 4th City.
Then check out the lake outside, south of the city. Explore the SE to loot the chest and watch the event with the blonde sister...
She will then invite you to the red light district under the city. Go wild with her and watch all her events.
3) Loli Trio... Apricot (杏子)
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Make sure you run into her by the lake near the 2nd city. She will then show up next to blonde in the red light district. Do all her H events once.
4) Loli Trio... Black
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In the 4th city, visit the green roof house north of the weapon shop. You will then need to visit the tentacle forest south of 4th city to rescue the owner of the Rune shop.
After the rescue, return to the 4th city to check on Rune Shop owner, then check out the bathhouse (large wooden structure in north side of city). Talk to her and convince her to go to the red light district... and you know the rest. Also, trying to exit the bath while naked earn you another title.
5) Dark Elf
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Warning you need to be sufficiently strong, or NG+
When tackling the bandit quest NE of first city, take the detour to the right. This will get you captured. Choose look for a way to escape. The Dark Elf will assist you by using her body to distract the guard.
If you are strong enough, you can choose the option to kill bandit and escape together. (Failing will lock you out of recruiting her until next game)
Then, much later in the game when you unlock orc village (after visiting Snow Town), get captured so you can meet our Dark Elf friend again. Choose the option to escape when you talk to her. She will send you to tentacle forest. Head back to town and talk to blonde loli, who will give you a letter. And go get yourself capture by the orcs again... show her the letter and follow the script. You will also get a costume out of all this trouble.
6) Sister
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Your bratty sister turns out to be the demon lord's attendant.
Talking to her in your home (right building) allow you to enter the destroyed city next to the demon lord castle.
She is the last boss in the town... When fighting her, don't attack her... she will then ask you to surrender, just keep refusing until she gives up.
7) Mask Girl
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To get her, you must be strong enough to beat the boss in the deserted village west of demon lord's castle.
This will let you get the pick axe required to enter the volcano.
Talk to people in Snow Town to hear about the previous hero's inheritance.
You will then run into snow girl here. Use your pick axe on the 5 black orbs blocking your way (must not have it equip to use it on the orbs). You will then need to beat the last boss on your first try and see the sword event after the boss.