Fetching details from the dictionary...

attendant; companion
社長の出張に御伴して海外へ行くことになった。
I ended up going abroad as a companion on the company president's trip.
母の買い物に御伴するのが週末の習慣だった。
Accompanying my mother on her shopping trips was a weekend routine.
先生の御伴で美術館を訪れるのは貴重な体験だ。
Visiting the art museum in the company of my teacher is a precious experience.