I think from the cave....there are only two paths in the immediate vicinity besides the one you came from...It's either the right or left path...pretty sure its to the right!
I went to the left outside the cave and that took me to the world map, the only place I could find there was the Herb Cave... but the monsters there were too powerfull to fight.
I think you need to go up and towards the left side of the world map. if you got that cave...you went tooooooo far to the right I did the same thing and nearly got whooped
then go back from the world map and try looking around a bit more before that area that takes you to the world map and the herb cave. you actually went too far to the right.
Go back into the forest. You went toooooo far to the right. Gone through it again Go back to where the bridge is washed out near the cave where you meet your first partner. Exit the cave and go up towards the broken bridge. There is a pathway on the left. It'll take you to the world map and on to your next segment