Each character has 15 skills panels containing 5 skills. That's 450 skills in total. At the start of the game, most panels are hidden, don't worry, they will appear during story progression. Once appeared, you need to unlock them. Put your cursor on a locked panel to see the unlock requirements. Once unlocked, the first skill is given to you for free but you need to spend SP to unlock the other 4. To get SP, I recommend doing side quests and beating bosses and giants.