I was thinking about having Majir-Dar not even notice the dead guard (the dead guard being on his blind side) and just meet up with the group casually. Do you think this would be a good idea?
Hard to say. He could've witnessed it, and followed us stealthfully, and gotten caught in the ambush. But I don't see why someone who likes to avoid conflict would do that. Largely, it's up to you what you want him to do. It's your character, put yourself in his shoes and think like him. What would he do? As for a proper place to come into the RP, I can't say for sure if it would be best to wait or jump in now. However, the opportunity is open to you. If you are unsure of whether we'll approve of something you plan on doing, you can always discuss it with us first.