Use the W, A, S, and D keys to explore the world. Alternatively right-click on the ground to select a destination.
Use your mouse wheel to zoom in (Scroll forward) for exploration and out (Scroll backward) for tactical combat. In exploration mode, moving the mouse while clicking in the right button rotates your view. In tactical mode, clicking in the mouse wheel lets you pan across the screen. You can only pan until your party members are at the edge of the screen.