Jump in voice chat on strikes and crucible. I've made a few good friends that way. Also check out some the clans on here. You'll encounter a -blam!- ton of douchery but eventually you'll find a seamless group. Don't fret if you're terrible, practice and all that. Have fun Guardian.
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Thanks for the advice ^^ Just noticed that PS3 and PS4 can't play together which is rather unfortunate. But oh well :)