Note: The reason why Dyshana is listed in this table twice is because she joins the party in the First Generation but she is not playable until the Fifth Generation, and only if you are on the True End path.
Note: There is a bug in the EU PS3 version. At the start of Generation 3, if you are following the True End Path, you can bring back anyone from the previous generation without having Forbidden Tome II. This bug also applies for the Fourth and Fifth Generations and their respective tomes. This has also happened with the NA Xbox 360 version (updated and no longer true). However, this does not seem to work with the NA PS3 version.
Note: The reason why Mila and the gods are listed in this table is because while you capture them like monsters in a one-time event, they act like normal party members (can level up, can use normal items, show up normally in the equipment and status menus and have battle dialogue)
Note: All the love interests in each generation join hero's party in the very beginning of hero's adventures.
Note: Only hero and the love interests are actually playable in battle.
Note: Actually, Cupra and D.D.D. / Akuma still stay as permanent party member in second generation. They still play the same role like they did in first generation during battles. Only Lifre left the party after first generation and later gets replaced by Titania shortly after the last fight against NEO-BUTCHER. Once she joins, she'll take Lifre's role in battles. Although in True Ending path you may save Lifre in second generation after visiting all shrines, she won't take her old role back even if she rejoins hero's party.