There are ones who will bring you back to the village safely while you are lost in the middle of nowhere or when you are isolated in the middle of enemy's camp.
Panteon Missionary, a member of Panteon association which serves the Goddess, travelling across Iveria spreading out Goddess's words, are the ones.

But, certain things must be done in order to request for a repatriation. You must give A portion of your soul to the missionary. Right click on the Missionary and click on Establish Return and Missionary will take care of the rest.
The portion of your soul is used to bring your body back to where the Missionary is Standing upon your request.

Press K on the keyboard to bring out Skill list window and click on Repatriate icon placed in Obtained window to return to the village. You can also drag the icon into one of the Quick slots to perform the skill with shortcut keys.