Animal Companion... I need help

[Summertime]

I seem to be failing miserably every time I try. Doesn't matter what type I try.. they leave after 5 minutes and I get hit with the 20m penalty.

Im in landing.. and figured the steps would be a good place to sit after I summon. I've tried general basic RP to increase affinity, feeding them sammiches, petting them, hugging them, smooching and kissing them.

NOTHING seems to work. They leave after 5 minutes, or if I try any kind of basic command.

Can anyone help me? What am I doing wrong, and what do I NEED to be doing? I've tried searching, but haven't been able to locate a step-by-step guide for companions.

Hope someone can help.

[Krendeli]

There's a second step after you summon them. I just can't remember what it is. You need to befriend them or summon them again or something.

As far as i had ever known with my pet, all you had to do was be logged in and just sitting around with them. You never needed to interact, just sit still.

[Trouble]

You need to use a certain verb. It's been a couple of years so I'm not sure, I think it's BEFRIEND. Maybe krakiipedia.org has a guide?

I know food types were important too at one point, like berries were more appropriate for my porcupine than some other types of food.

[Daniel]

Best way to get affinity, unless it's changed: Idle with your companion.

[B2]

http://drfuturepast.com/GSIV/GECP/

Pick Summoning from the list on the left, she details it pretty thoroughly.