At any time during the game, press "C" to bring up the sub menu. Go to View Character and press "C", when promted with the "View Which" message, press and hold left on the D-pad, "A" and "C" for about 3 seconds, then release. Scroll left until you start finding strange characters with exotic items, weapons and armor. Trade whichever items you want to the members of your party. This trick can also be used to take these characters Gold and Gems.