accompany
If you accompany someone to a place, you go there with them.
She asked me to accompany her to the church.
Accompany is a fairly formal word. In conversation and in less formal writing, you use go with or come with.
I went with my friends to see what it looked like.
He wished Ellen had come with him.
However, there is no passive form of go with or come with. If you want to use a passive form, you must use accompany.
He was accompanied by his wife.
She came out of the house accompanied by Mrs Jones.