After he found Vanhashiron, Majora lived most of his life as a mercenary, taking small jobs and simply trying to survive. Majora is adventurer that has been roaming the Old World for quite some time in his life. He has had a very rough life, but because of his mindset, he eventually pulled himself together. Once he stumbled into Crestfall he had decided that it would be a good idea to stay sheltered from the threatening wasteland. His main goal in life however is to help the citizens around the metropolis, and do good deeds to those that truly deserve them. The population of the Old World recognize Majora as "the mercenary with the kindest heart."
Along with his Vanhashiron and the good morals he had learned throughout his life, he will strive to become one of the most memorable souls that have graced Crestfall.
When the day came that he came into Crestfall and found things to more comfortable than any other place he had been to. On top of that he later learned more about Queen Alyssa and how she governed her people the Scarf Heroes. The whole idea of being a Scarf Hero sounded honorable and a way to make trust worthy friends. Majora, seeing how exclusive the group was, didn't think that there was any way he could join, so instead he just decided that he would live among her people and continue his life as he did before (as a mercenary).
Much later, Majora did end up joining at the same time as Badminina and Red. The Queen wanted to talk privately to Badminina and Red, Majora just so happened to be in the same room… He couldn't help but be concerned. The Queen asked for some advice on a certain matter and the three all pitched in and tried to help her out. From this small act of kindness, Alyssa must have seen the sign of a strong, trustworthy trait in each person there and decided to name each of them Scarf Heroes if they so wished. Majora was truly shocked that he could be given such a title. Majora said yes without a second thought, as did the others.