Its a quest from the old orc standing right next to the castle. I believe he will only offer it after you take the map from Lucky James (aka complete the main quest here) and return to the main land. If you didn't take the quest you still have to fight the orcs in the castle when you click on it (not sure if theres any exp reward, try talk to the orc in the castle after you beat it). Oh and it has nothing to do with the kidnapped princess, just a side quest.
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