Radiant Historia Sword dancing act

They say i need to find it and i know its in the Rosch part of the Time but do i need to follow the storyline or go further back so i can learn it from that guy to follow the story as an agent further

It's in the part where you go into the sand place, get to the part where you can walk around, and you can find Kiel i think his name is

ok ty found him