What you're describing could be many games, to be honest with you. Some off the top of my head: Final Fantasy Tactics A2: Grimoire of the Rift, Valkyrie Profile: Covenant of the Plume (fantastic game which you should check out regardless of whether it's the one you were looking for or not), Disgaea DS, Blue Dragon Plus, ... There's many others but I didn't like them so I can't remember their names.

Hope one of these was the one you were looking for.