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Has anyone ever made a story where two people write it? I wanna do that, but I don't know who's willing... it should be an adventure story...

My plan is to write a character first, then we make up characters as the story goes on and make it all epic

Yes, that has happened before. One of my stories used to be a collab between me and a friend, we would alternate writing each chapter. I discontinued the story though, we both kinda forgot the plot and lost interest.

A couple of my other stories have had an editor. I would write a chapter and send it to the other person for edits and feedback before I posted it.

Also it's generally not a good idea to make it up as you go. You should plan out the story and most (if not all) the characters before you start.

Yeah, like Zunar said, I think it's a good idea to have the story planned out before you begin. A year or two back, I tried writing some stories, but none of them ever took off, and I suspect the reason was that I didn't have a full-fledged plan for the story.