Stay with a walking companion (5)
I believe the answer is:
stick
'stay' is the definition.
(synonyms)
I cannot understand how the remainder of the clue works.
Can you help me to learn more?
(Other definitions for stick that I've seen before include "Rod" , "Glue; piece of wood" , "School punishment once" , "See 2" , "Flak - cling" .)