To find this quest, you'll have to go to Mother's Rise and speak to Yan. He'll tell you about Nakoa and Solai
Speak to Yan
Talk to Yan at Mother's RIse and he'll tell you about Solai and that you must speak with her. Head on out to Mother's Crown and look for Solai. Once you speak to Solai, she'll tell you to look around in Daytower.
Speak to Zaid at Daytower
Once you reach Daytower, you will have to speak to Zaid. Ask for Nakoa and you'll be told to look around Lonesome Rock.
Upon arrival at Lonesome Rock, you will have to kill the guards. After clearing the area of enemies, use the Focus to scan for any clues of Nakoa. Eventually you'll find some tracks to follow.
Explore the Compound and Save Nakoa
The tracks will lead you to a compound. It will be protected by some guards; take them out and follow the tracks leading to Nakoa. Speak to Nakoa and look for the keys to unlock her chains.
Next, you'll have to help them escape the compound. Go outside to face Zaid. Kill him and speak to Nakoa to complete the quest.