【Accompany】 , 【attend】 and 【escort】 all mean to go along with.
【Accompany】 when referring to persons, usually implies equality of status.
- Ken agreed to 【accompany】 me on a trip to Africa.
【Attend】 implies a waiting upon in order to server usually as a subordinate. (see also: Tend vs 【Attend】 vs Mind vs Watch)
- The President was attended by several members of his staff.
【Escort】 adds to 【accompany】 implications of protection, ceremony, or courtesy.
- Armed escorts are provided for visiting heads of state.