Mm, pretty much requires you to have played SOTET. For those of you who haven't heard me rant about it yet, that stands for Star Ocean Till the End of Time.
Planet: Elicoor II
Time: Mm.. Anytime really. My post isn't going to include and specifics of timeline other than the fact that Albel has already joined the party.
Albel Nox - Albel
Fayt Leingod - Woltar