The Minotaurs are the first major hurdle. You'll have to keep fighting them until you beat them if you want to progress!
Don't forget to heal up at the blue orb, and make sure you've got your weapons equipped (I kept forgetting to do that while play testing lol). You can beat them for sure, it just takes some familiarity with your party's abilities!
As soon as you leave the Queen's cell, avoid enemies and go through the rooms on the right. The first room has a waterfall, the room after that will have a big pit in the ground.
The pit room will have a glowing sword next to a skeleton, all you need to do is interact with the sword and you'll get weapons for everyone. Don't forget to manually equip ghe weapons afterward!