Look at your quest menu. See where it tells you just below the quest name, Awakening V, to defeat Lucca? Try right clicking Lucca's name. It should auto-route you.
If not, is there an icon you can right click to the left of the quest name, if Lucca is a summoned monster? Try right clicking that, and it should auto-route you and summon it.
It should be able to be done through one of those two methods. Give 'em a try and let me know how it goes!