I've never done this, hehe

Alright; here's the units you need

Joshua; neutral IV's

Fjorm; neutral IV's

Performing Azura: +spd -hp

Lucius: -spd +res

Lucius and Azura are S-Supported.
Fjorm and Joshua are S-Supported.

Actual strategy:

Get your units arranged in this order:

Have Fjorm move up 2 spaces, Azura take Fjorm's spot, and move up two spaces so he's right behind Fjorm. Have Joshua then use swap on Azura. Lucius should end up behind Joshua. It should look like this:

Alright, move Fjorm into the danger area. Have Azura sing for her, and use Joshua's swap again so now he's right behind her. Lucius should stay just behind them.

End turn.

You should end up with this next turn:

Move Fjorm two spots to the right. Have Joshua use swap again.

Lucius will use Wings of Mercy to transport over to Fjorm and heal her. Have Azura in the danger area only the blue dragon flyer can reach.

(Don't mind Elise attacking)

You should end up with this:

Have Azura finish off the Blue Dragon Flyer. Use Lucius to put some damage on the Green Dragon Flyer. Have Joshua attack Elise, and Fjorm finish the Green Dragon Flyer.

Next turn should look like this:

Joshua will finish off Elise. Have Lucius fly over with Wings of Mercy and heal him, and Fjorm will use swap. Here's what it should look like:

Have Azura go up to meet the rest of the crew.

Next turn should look like this:

Have Fjorm attack the bow unit, and have Joshua back up a square and have Lucius heal him

Azura should sing for Lucius and him heal her.

Fjorm will finish off the bow user in the enemy turn.

Congrats on your new orbs!