Hey, as they say, practice makes perfect!
I have been playing for about 685 days now, so I have had a LOT of time to practice :P
If you need any tips, TylerPAD has some interesting videos about some neat tricks for orb matching!
After a while they become natural though, so now I'm working more on looking for cascades to help with skyfall ^_^
Also, a lot of the time it depends on who you are comfortable with. I spent around 150 or 200 days probably with my Seraph of Dawn Lucifer as my leader, because I liked how safe he was. Now I have started to become more accustomed to using my Horus, but still sometimes like taking the safer route such as this video, where I chose more HP and RCV rather than try to risk charging in with my Horus team when I could be safer!