Unlock Apprentice Tamer from the Knowledge menu.

You can access the Knowledge window by pressing ToggleRecipeInventory.

Animal Pens can be employed to raise young animals to full-fledged adult pets.

You can place an Animal Pen by using the Construction Hammer.

Certain animals in the wilds often travel or rest together with their young.

Press Interact while near a baby animal to pick them up.

In order to raise an animal, you will need to place appropriate food inside the pen. Certain types of food have a better chance of your animal growing up as an Alpha pet.

Once your pet has grown up, you can retrieve it from the Animal Pen.

Followers need food to survive. They will gain health over time but food helps increase healing. You can place food in the inventory of your followers and use it from there to feed your followers.

While looking at your follower, hold CommandsMenu and select 'Inventory' to view their inventory.

Once you have your pet following you, you can press CommandsKey once, twice, or thrice to issue different commands. A single tap will make your pet move to and/or attack a target.

Target your pet and press CommandsKey to issue commands to it.