You met them in the RHG City. They were talking on the roof of one of the buildings, discussing their strategy against Raze on the tournament when they notice you.

Aquo: Hey there, new guy! Blaze: A stranger? Who are you?! Terra: Hello, care to name yourself? Jet: Heya, pal! Jirito: I wouldn't call you an enemy. Volt: Hello, new mate!