Into The Thinking Kingdoms

Description for INTO THE THINKING KINGDOMS by Alan Dean Foster:

An adventure of epic proportions continues as Ehomba, a man bound by honor, travels through exotic and perilous lands on a quest to find and protect a beautiful princess he has never met. Drawn into his journey are Simna the swordsman and the great feline Ahlitah, and both are as much fascinated as they are confused by Ehomba's commitment to the imprisoned royal. Together, they travel great distances and encounter fantastic beings, but to save the princess, they must confront the greatest evil that lies ahead: her captor, Hymneth the Possessed.

This is Journeys of the Catechist - Book 2