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There is a very easy way to respec abilities of your character and of your companions if you wish too. Very useful if you made mistakes or just not liking the build.
You just have to purchase The Tactician's Reneval Amulet available in Haven and in Skyhold's Undercroft.
Here are details:
Sith Warrior - Story of Hate and Love http://www.youtube.com/watch?v=sxKrlwXt7Ao
Imperial Agent - Rise of Cipher Nine http://www.youtube.com/watch?v=OBBj3eJWBvU&feature=youtu.be
Imperial Agent - Hunt for the Eagle Part 1http://www.youtube.com/watch?v=UQqjYYU128E