The daily bonding session is just about spending time closely together.
You don't need to know any kind of meditation. You can simply sit quietly without interruptions for 5-15 minutes, holding the vessel and noticing any impressions that come to you.
If you like you can talk to the spirit companion like a friend. You can also ask yourself: what does this vessel feel like? What does this spirit look like? What does this spirit do?
You can also make notes while the session is still clear in your mind. When you look back over your notes some time later in the process, you might see a pattern.
Our bound spirit companions will try to reach us in various ways. If you don't see or hear them yet, they may help by nudging your thoughts in one direction or another. These contacts can be so subtle that we discount them as just our own rambling thought processes. You could ask them things and see what pops into your mind. (Don't ask life changing questions or make life changing decisions based on these answers, especially as you're just starting out with this kind of thing. Just note answers for future reference. Maintain a common sense approach at all times.)
You can recite the spirit mantra before the bonding session. It helps tune your energy into theirs, even if you don't feel the energy well.