Okay here's the scene as I see it. The Minotaur girl is out on a stroll minding her own business, the adventurer though has been on a quest fighting through some pretty normal sized monsters till now (though ones that have been completely evil) and has defeated most of them with out much of a problem. Yet he comes upon the Minotaur girl that towers above anything he's fought so far, though to his credit he has been in some tough spots before, so he challenges her. Yet is surprised to find out that while she looks menacing she doesn't seem to want to hurt any one. In fact as she crouches down to talk to him she takes steps to avoid crushing him. She even explains that though she's part of a warrior tribe, they are a force for good (which gives credit to the fact that she has weapons, yet shows why she's reluctant to fight some one who could be an ally). She also states that she is also just become of age to be considered a warrior by her tribe (explaining further her youthful looks and innocence). He also sees that while she is exposing her panties to him (and a vulnerable attack point) she seem's a bit embarrassed about it. I think he then considers what she's saying and maybe in his mind asks himself how to proceed here, not lowering his sword though as he is still wary of the fact that he is in the presence of a giant Minotaur. After a few minutes though he does sheath his sword, the Minotaur lowers her swords to the ground also which strengthens his beliefs in her claims, which leads to them talking more. And for a happy end we have them becoming partners in Adventuring (maybe even the start of a group) maybe even have them save one another's lives in the process, maybe having the Minotaur be considered by her tribe to be a warrior in the future. If you feel like using any of that as a story go for it.