Magic can be learned from enemy characters by using the new "Draw" command or by concocting them with the Magic Refine Ability of Guardian Force beasts. There is also an ability that upgrades weak spells into more powerful spells. When you get a Guardian Force beast with Magic abilities, you should assign them to characters so they learn spells quickly.

When you access the Draw menu during battle, you will be given a choice of which enemy to draw from, if there are multiple enemies, and then will be given a choice of what magic to draw, if there are multiple magics. Also, a "????" will appear on the enemy menu, especially with bosses. This usually indicates a magic that the characters do not have at this point - it's especially important to concentrate on drawing the ???? options first. Also, sometimes the ???? will be a GF Card, another good reason to concentrate on that first.