Ok, here's one but it a bit vague so yeah
The game stars a young boy who dreams of being a Knight of an Order, and he is summoned to the castle to complete a quest/mission in a village of [I think] Dawrves. He travels with a very skilled girl [might be his sister or childhood friend] and they make their way to the settlement. The combat was you touch an enemy, then go into a semi similar FF fight but you can run/attack freely. They get to the place, complete the mission and then return home to become Knights, but something goes wrong and I think the boy is labeled as like a traitor or something. That was as far as I got, but I remember the theme was Light or Sun. His main weapon was a sword and I think the girl used long range attacks, and I remember there was a recruitable knight character that needed his Contact Lenses to see, might have used like a pole weapon.
That's it, all I can remember. Faces are blurred and the colors were vibrant [mostly yellow], and I played it on the PS2 so it might be a PS1 as well, graphics were nice for it though.
EDIT:
Found it
"Radiata Stories"