No not a glitch. When you ported to your friend they were in a dungeon. Some dungeons have quests that appear as you enter the dungeon. If you leave the dungeon without completing the quest it will disappear.
You will receive that quest again when you re-enter that dungeon, but keep in mind you only get full experience the first time you complete the quest. The second time you complete the same quest in that dungeon, you get 50% of the quest experience and all subsequent completions of that same quest in the same dungeon will not reward any experience for completing the quest.
