In the past, while the hero and Nanami were training in Kyaro, Nanami found the squirrel imitating his moves. She sneaked behind the flying squirrel and leaped upon him. Bringing him back to the hero and Jowy, she named the squirrel Mukumuku and the group have known him ever since. As such, he was something of a childhood friend.
When the hero, Nanami and Jowy were forced to flee from Kyaro under accusation of treason, Mukumuku joined them in their escape. He would form the Flying Squirrel Corps with four similar flying squirrels. As captain, he was responsible for naming the other members of the squad.
Before entering your home in Kyaro Town, examine the tree behind the house three times and Mukumuku will join you. If you miss this opportunity, Mukumuku can be recruited randomly in Greenhill Principality by walking between Greenhill City and the Muse-Greenhill Border with an empty slot in your party.