Since nobody's seemed to have mentioned it, debuffs let you frot enemies. You don't always succeed if they're at full health so you might need to hit them once first (there's no RNG involved, but it based on something because Paladin can succeed against stronger enemies than Militia). I like running Paladin (Healing Spell+Vampirism Attack) in front, Dryad (Weakness+Skill Block with Sleep outside boss fights since damage removes it) and Militia (Rapid Shot for back line/before Dryad sleep, Pow for false swipe/after Dryad debuff, Healing, and 1 level in Clear Debuff+Return Charm) in the back row (+all passives, the ones that don't mention how much MP raises each level).