Definitely Echidna. Percival is good, though not great, on NM, while Echidna is great on both modes, so that counts for something. On HM, he definitely wins in stats/mobility, but he doesn't have many good support options(Klein and Lalum are decent, Cecilia and Dorothy give good bonuses, but they're both pretty bad).
Echidna is around for an extra 4 chapters or so, which are certainly more difficult than when Percy joins(mainly because you'll usually have promoted people when he joins, but usually not when Echidna joins). She has also has many good supports, which are mutually beneficial for both characters involved(Lalum, Gonzales, Geese, and Lot all want her).