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Nightfall includes commands you can use for controlling and directing your Heroes. Once you leave town with a Hero in your party, you can direct where that Hero travels using your Compass.

Under your Compass, you'll see a set of four flags. With the first flag, you can set a common destination for all of your Heroes and henchmen. To set a destination for them, left-click once on the first flag, and then click on the mini-map in the center of your Compass. All of your Heroes and henchmen will then walk to that destination. Double-click the same button can remove the destination flag from your compass. When you remove a destination flag for a Hero or henchman, that NPC no longer walks to that location; instead, the NPC returns to your location.

When you look at your Party panel, you'll see a list of Heroes in your party. (You can open or close the Party panel by pressing "P.") Each Hero has a number in front of his or her name; each number corresponds to one of three numbered flags below your compass. You can set a destination for a Hero by double-clicking on the flag button with that Hero's number, and then clicking the Compass mini-map. Double-click the same button to remove the destination flag from your compass.

If you like, you can set a destination flag by clicking on the terrain in front of your character instead of using the Compass; when you do, a corresponding destination flag appears on your Compass.

(copied directly from Hero commands http://wiki.guildwars.com/wiki/Hero)