I'm not sure there's any rule page that walks you through the process of squadding ships, though.
You need at least two squaddable ships of the same class in one location. While you are the cockpit of one of the ships, go to your "Manage Piloted Ships" page (note: you must be the pilot of the ships you wish to squad. Select the sister ships to the one you're in and, utilizing the dropdown menu at the bottom, use the "Set Controller" option. Set NPC Controlled is what you want.
This should be your final product, found in the "Ship Controls" page:
The "1" is your current ship, while the "+ x" will be however many are squadded with you. They will then be squadded and will follow your master ship!