Follow the Expert
Source GM Core pg. 41
Follow the Expert is a truly versatile activity that lets a PC who's lacking at a skill or exploration activity have a better chance to succeed. It provides a good way to help a character with a low Stealth modifier sneak around, to get a character with poor Athletics up a steep cliff, and so on. Usually, a character who's Following the Expert can't perform other exploration activities or follow more than one person at a time.
It's important that this doesn't become too rote. Let the players decide how one of them is helping the other. The description can give you more to work with and add flavor to the exploration beyond just the mechanics. Also, if one PC helps another in the same way over and over, that could be a sign of character growth. If the envoy has helped the soldier Avoid Notice over and over, the soldier is essentially receiving training in Stealth at that point and might want to consider taking or retraining a skill increase to make that true. Connections like these can breathe life into the characters and their relationships, and it can help promote camaraderie and interactions between characters.
It's important that this doesn't become too rote. Let the players decide how one of them is helping the other. The description can give you more to work with and add flavor to the exploration beyond just the mechanics. Also, if one PC helps another in the same way over and over, that could be a sign of character growth. If the envoy has helped the soldier Avoid Notice over and over, the soldier is essentially receiving training in Stealth at that point and might want to consider taking or retraining a skill increase to make that true. Connections like these can breathe life into the characters and their relationships, and it can help promote camaraderie and interactions between characters.