Jude activates his restore skill once the ally his is linked with is knocked down. He will do a flash step towards them and kneel down, helping them up and recovering a bit of their health. Simply use chance encounters with enemies that can knock you on your back such as the Treant class enemies and let Jude keep picking you up. Make sure your defense isn't too high as well, sometimes the enemies can't break it and knock you down if you are in an area where the foes are weaker.