Earth has been contacted. An elite is being selected to interact with aliens. A trio of bright, talented, and courageous young people are brought together. A hands on marine biologist, hence the shark walking, a historian with an enthusiasm for enactment and a "little" Earth outlook: the cavalier, plus "a Girl!", who if I remember correctly was the hard science person. There was also an alien minder who was not humanoid, was very physically tough and who masquerading as their "dog", accompanied them on their mission to a less advanced earth-like world . I read this in the late sixties, it was a great book for older children as the very different members of the team learned to work together and respect each other. The characters were maturing just as the human race was maturing. I cannot remember the title or author but would love to find this book again. Any help much appreciated, Ian