Approach the voice that beckons from the center of the map
Search the area
Drive off the threat
Report to the Rift
Continue to the camp's headquarters and examine the riftstone to investigate the mysterious voice. After the short event, go to the quest marker and leave the Encampment. Outside you'll find a cyclops with some goblins. Help the soldiers take out beasts then return back to the riftstone.
After reporting, a permanent, primary pawn will be assigned to you. You can customize his/her overall appearance, build, inclination and behavior. Once you're done with your main pawn's customization, this quest will be complete.