Okay I have used the join a group outside the bizarre, but how do you add a quest to it for help?
Go to the place and instead of "pressing x to enter" there is a option that says "Team Up" if you click that then it will list you on the board for other players.
If there are no teams in the Kiosk when you look, you need to create one by going to the dungeon sigil and selecting Team Up. The first person always has to start it like that. Then it appears in the Kiosk for others to join.
The kiosk is mostly for people who have several tough quests they can run next and want to look to see which ones have groups forming. Also some high levels who like helping others seem to hang around there just looking for people to help. If you just have a single specific instance you want help with, go to the instance door and click the teamup button. While you wait for help to join your teamup you can do other things, including going to old town and checking the kiosk. I like to visit the bazaar and empty out my backpack selling unneeded junk while I wait.