Led by fate, the two siblings, Senel and Shirley, arrive on the "Legacy", a Relic Ship made by the ancient people of the past. There, they both meet with a band of unlikely allies, learning about the state of the world and discover the path they each must take. This is a tale of destiny about their meeting and the bonds forged between them.

Based on the role-playing game of the same name by Namco Tales Studio.