If 'Skippable Puzzles' has been toggled on during the game's creation, the Song of Exploration: Struggler's Lament can be utilized to move past the main questline puzzles. If Struggler's Lament is not accessible to you, try changing the game difficulty to an easier setting from within the in game options, or recreate your game and toggle the 'Skippable Puzzles' (available via the Exploration Style' settings page) to 'On'. The song, 'Struggler's Lament' will then be accessible to you via your party's Songs page and can be used on glyph-marked doors that are locked by mechanical or magical means.
If the issue is unresolved thereafter, we encourage you to research the questline via one of the various online game walkthroughs that are available to ensure you are proceeding correctly.