Team for pve(Help)

A team with Zelgius, Brave Ike, Brave Lyn and Azura should have little to no trouble clearing PvE content

Zelgius, Azura/Lute, Rhajat, B!Lyn.

My first recommendation would be to use less ranged units, as they can dampen team composition. Without knowing IVs, I would use Zelgius, Brave Ike, Azura/Fjorm (Fjorm is more flexible, but Azura will give nice support), and a ranged unit (probably either Lute or Brave Lyn). You probably haven't touched their skill sets much yet, so I could give a few builds.

Zelgius is in luck because you have an extra Brave Ike for Steady Breath. Use Alondite, Pivot/Swap, Black Luna, Steady Breath, Warp Powder, Panic Ploy, and Quick Riposte in the Sacred Seal slot (if you don't have it, just make it in SS creation).

Brave Ike should be well off because for his second best set imo is cheap. Use Urvan, Reposition, Aether/Ignis (I prefer Aether), Steady Breath, Quick Riposte, Threaten Defense, and any Sacred Seal like Close Defense.

Fjorm could use her base kit with Reposition, and Azura would just use Fury, Sapphire Lance, and Wings of Mercy.

For Lute, use Weirding Tome, Draw Back, Iceberg, Fury, Desperation, and Res Ploy. If you want to use Brave Lyn instead, use Mulagir or Brave Bow, which use different sets. Either one could use Sacae's Blessing and Luna, but the Brave set should replace Swift Sparrow with Life and Death.

Hope this helps!