Star Ocean the Last Hope ways to heal?

[Sabella675]

I'm on the first planet, searching for the other ship, and I keep running into bugs to fight, and I keep almost dying. Yeah, I'm not too great with the battle system yet. Is there any way to heal without berries, and before you get the "healing" ability(that I read about online)? Such as on the ship somewhere? I keep thinking there should be a way to heal like how on Kingdom Hearts when you step over the "Save" point, it heals you completely. If not, what am I supposed to do to heal when I can't find berries?

[Hahahaka]

you can heal your pokemons in a red house called poke center