I stumbled upon this question: My ranger has tamed an absurd amount of Animal Companions with Handle Animal
In the uses of Handle Animal, most similar thing I have seen is:
Rear a Wild Animal
To rear an animal means to raise a wild creature from infancy so that it becomes domesticated. A handler can rear as many as three creatures of the same kind at once.
A successfully domesticated animal can be taught tricks at the same time it’s being raised, or it can be taught as a domesticated animal later.
but I hear / see / read about people using this skill to tame adult animals, too. What rule or combination may be used for that effect? Wild Empathy could change animal's attitude from wild animal's unfriendly to domesticated animal's neutral or friendly all right, but I don't see how would it give an ability to teach said animal tricks.