noun

a person, vehicle, or group accompanying another for protection or as a mark of rank.

a police escort

guard,bodyguard,protector,safeguard,defender,custodian,attendant,guide,chaperone,retainer,aide,assistant,personal assistant,right-hand man,right-hand woman,lady in waiting,duenna,equerry,squire,entourage,retinue,suite,train,cortège,attendant company,caravan,protection,defence,convoy,minder

verb

accompany (someone or something) somewhere as an escort.

he escorted her back to her hotel

conduct,accompany,guide,convoy,lead,usher,shepherd,take,direct,steer,guard,protect,safeguard,defend,partner,bring,come with,go with,take out,go out with