Each castle has space to store units. Look for the "garrison" at the bottom left-hand corner of the castle interface. Just drag and drop from your army to/from those slots.
As I mentioned earlier, if you find yourself having to reinforce frequently, you may want to reconsider your battle approach or the stacks you're taking on. Losses of more than a small handful of units in any given battle should be avoidable, without too much effort. The early game really is about doing a lot of exploring to find the best order in which to tackle stacks and gain treasure. You shouldn't be trying to clear the map through brute force. Rather, collect easy treasure/items to gain some strength and troops. Backtrack as necessary.
Regarding zoom, I don't recall ever finding it so limited that I couldn't see what was coming up ahead of me or around corners. You might want to try rotating the camera, as well.
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