Accompany
Definition 1 of 3
Pro Tip 1/3
Companionship
Use when stressing the presence of someone as support or escort. I will accompany my grandmother to her appointment.
Pro Tip 2/3
Simultaneity
Stresses occurrence at the same time, often explaining coinciding events or circumstances. Thunder is often accompanied by lightning.
Pro Tip 3/3
Not Leading
Implies not being in charge or the main focus when going with someone else. As a junior staff member, I'll accompany the team but not lead the meeting.