To Reset Focus and attribute points for yourself and for companions Go to any tavern and speak with a Tavern Maid. (usually they're pouring a drink.) Ask them about other drinks.

To Reset Perks Go to an arena and speak with a Tournament master. Ask him to help you hone your skills. You'll be allowed to choose Which Core Attribute and then get to select specific fields. This will clear the perks of the entire field but not already earned XP in that field.