It's really quite easy, if you have the element of surprise. Travel east of Lake Totori or to the Hickaly Woods.
There you may find a bear just sitting, thinking about Honey. It helps if you have stealth clothing, wall very slowly.
Dont make a sound as you approach, and when the time is right simply mount the bear. Tap L repeatedly to sooth the bear.
The bear will relax and be your companion. Be careful not to approach any enemies because they will attack and you will lose your bear.