You'll meet your pets on expeditions in the Atlantean lands and take them to the camp. Pets will be living on a small island not far from the coast. The island will become available when passing the Cloud Hills.
You can have 4 pets: a leopard, a bear, a fennec and a samoyed husky.
The atlantean baby leopard will be waiting for you in The Plato.
The atlantean baby bear lives on the Kata'el Lake.
You'll find atlantean Fennec in the Ur'tah Desert.
The samoyed husky can be found in the Snow Land.