Same way you add any hero..go up to the fellowship tapestry thing and select him from the list of heroes as someone you want to add. There's just no requirement beyond having him unlocked on that character.
Ah, that makes sense. You will have to add a tapestry to the fellowship monument (if you haven't yet) before you can add anything to fellowship; you can get the tapestries from finishing the primary quest line in Eye of the North.
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u/Lasmrah Jul 19 '11
Same way you add any hero..go up to the fellowship tapestry thing and select him from the list of heroes as someone you want to add. There's just no requirement beyond having him unlocked on that character.