The host can hit Esc to bring up a menu, and then the Assign Characters button to determine who controls each companion/henchmen.
A few people have had problems with companions becoming unresponsive. I assume you've both tried talking to her?
At the end of time, have Madora try talking to the Last Chest there (across from the portal to the Hall of Heroes).
Please email supportdos@larian.com, with a description of the problem and the report.zip file generated by the
D:OS support tool (for the PC version). The report will contain system and game information, any crash dumps, and your saved games. If file size is an issue, any saves not related to the problem can be deleted (so you could leave the latest working save with Madora, the oldest save where she was unresponsive, and your most recent save, for example).