Beg guide to follow map at last (5)
I believe the answer is:
plead
'beg' is the definition.
(I know that beg is a more specific form of the action plead)
'guide to follow map at last' is the wordplay.
'guide' becomes 'lead' (lead can mean to usher or guide).
'to follow' means one lot of letters go next to another (some letters go after or follow others).
'at last' says to take the final letters.
The final letter of 'map' is 'p'.
'lead' after 'p' is 'PLEAD'.
(Other definitions for plead that I've seen before include "Implore, entreat" , "Argue (a position in court)" , "Beg, implore" , "Make an emotional appeal" , "Respond to charge" .)