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I believe it's the hall of mist? And complete the advisors' quests. Once the lady advisor goes to the castle you should be able to (once you've gone back to talk to her again) gain membership in the light guild. Then you simply go to the guild and purchase the skill. Be warned, however, that not all characters can learn it and you must have received your second promotions before you become eligible to be taught. The expert teacher is I believe in Bracada, and the master, and gm teachers are in celeste (two of the advisors).
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