I will add this, if you press the "A" key the map will open but you will see only the areas you have visited . . . the remaining areas will be blacked out due to the "fog of war".
Zoom out using the minus magnifying glass. Any locations that have been marked on your map will have small red flags. Holding your hand cursor over each flag will cause a description of the location to appear. Left click and hold on the map to move the map around if it's not zoomed all the way out.
As you explore / quest, the fog of war will clear and you will see the locations clearly. The flags give you an indication of where you should go but . . there are so many things to do in Aleroth . . . so many things to do before actually making your way to the barracks . . there is no hurry to accomplish the quest until you clear the Aleroth quests and cover the dangerous distance from your location to the barracks.
See # 17 here and you will see there is much to do on the journey to enlist the escort . . =)