付き添う (tsukisou) means “accompany”

More examples

帰り道は、妹が一人にならないよう私が付き添いました。kae ri michi wa imōto ga hito ri ni na ra na i yō watashi ga tsu ki so i ma shi ta

I accompanied my younger sister on the way home so she would not be alone.

It centers on staying beside someone while going with them, often to provide support or protection.

同行するdōkōsuru: To go with someone to a place as part of the same trip.
同伴するdōhansuru: To go with someone, often to an event or appointment.

人のそばにいて、行動をともにする。hito no so ba ni i te kō dō o to mo ni su ru

The compound verb 付き添う (tsukisō) combines 付く (tsuku, "to attach") and 添う (sō, "to stay alongside").

付き添う (tsukisō) is common when a family member stays with a child at school or with a patient at a hospital, so it often conveys care as well as accompanying someone.