Not really you dont need guides. I dont use any besides looking up what skills do on occasion for future ref on my tablet. Instead of having to look through stuff manually in the game.
Lots of info / people to ask here too so you should be pretty set. The lancer is interesting since its got a ton of facing attacks, rear, side etc then later on when comboed together does a lot more damage than initially when its just using the skills separately. Though Id leave further talk up to the real lancers in this thread.
From there its just watching your damage output (hate) vs the tanks hate with the little meters that appear in the party status on the right side displayed as small bars.
lol if thats the case really doesnt matter which you start with first. Though it is a lot easier to level with the MRD solo due to your general base damage output so might want to keep that for later on and level up the GLD with your buddy as it takes longer with a GLD on your own.