godan verb (-u), intransitive verb
accompany; attend; escort; chaperone
To go with someone in order to assist, look after, or supervise them. Often used for accompanying a child, an elderly person, a patient, or a guest.
母は病院へ祖母に付き添った。
My mother accompanied my grandmother to the hospital.
先生が遠足に付き添ってくれた。
The teacher chaperoned us on the excursion.