A really, really, really good way to level up your low level heroes is simply to add them to your party before you accept quest rewards.
So, do the quest with your front-line heroes, get to town, switch to your low level heroes, accept quest.
The heroes get exp credit for doing the quest and I don't have figures but I read somewhere that they level like 4x faster than you do. So if you get 2k exp for a quest, they'll get like 8k (don't quote and don't flame cause I don't know exact numbers), but that's an example.
For example, I just got Goren who was level 18 when I picked him up after finishing NF. I did about 5 Desolation quests and added him when I accepted quest reward and he was up to Lvl 20 like nothing.
If you completed Prophecies and still have your titan quests available you can level them up very easily (20k exp per quest -- assuming you beat the quest).
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