Accompany (6)
I believe the answer is:
escort
'accompany' is the definition.
(I know that escort is a type of accompany)
This is all the clue.
(Other definitions for escort that I've seen before include "Companion (perhaps paid)" , "Act as companion, attend" , "Companion: train" , "17 [DESTROYER]" , "Accompany, chaperon" .)