Another tip, that isn't in the manual, I just found by accident.
You can change the position of each member in your party by clicking on their face icon on the main screen and dragging the icon to the required position.
This comes especially in handy later on when you have more then just a couple of members in your party.
Keeps the tanks in front and the mages in the rear.
It would be nice if you could change the configuration from a simple triangle though.