You have two options.1. Meet at the starting town and walk with your friend.2. a) One of you lay a claim stone.
b) Make it your homestead.
c) Set your homestead secret.
d) The other person (having not used their 1 and only teleport from the wilderness guide) types in the homestead secret and presses enter.
e) They then click the button that appears to teleport to the claim.To lay the claim as mentioned in option 2, you will need the following things.Skills: Survival Skills
Self-Defence
Colonial Tradesmanship
Settling
Items: Writ of Homesteading (costs 150 silver at the white roof stalls in town)
Stone x 5
You then build a "Stake Claim". This is your claimstone that you then make your homestead.
Note: If you wish to keep your land claimed, you need to put silver into the claim stone. (it drains over time, once it reaches 0 it isn't claimed anymore)
You can expand your claim, but doing so will increase the silver per time cost of your claim.
Summary:
Since you seem to already know about the "Stake Claim" option and think it will take too long, option 1 seems to be your answer.