In certain maps, there will be locked chests or doors at specific locations. You can view these conveniently in the Conditions screen as shown below, or manually scout the location by using the Map option in the Battle Prep screen.
Normally, there will be enemies near these locked doors or chests carrying the keys. Find and defeat these enemies to get their key. The unit who defeated the enemy carrying the key will receive it.
There are two more ways to open locked doors and chests without defeating the enemy carrying the key:
1. Unless specified otherwise, almost all chests and doors can be opened by a Door Key or Chest Key that you can purchase from the Marketplace’s Item Shop. However, the unit who will attempt to open the door or chest should have these in their inventory before the battle starts.
2. A unit with the Locktouch Ability will be able to open these locked doors and chests without the need of any keys. Unfortunately, this is a Class Ability and can’t be mastered or inherited to other classes.