go with her
我永远不会忘记那次跟她一起去夏威夷。
I will never forget that trip to Hawaii with her.
他要跟她一起去沙滩。
He wants to go to the beach with her.
这样明天我帮你约跟她一起去划船好不好
How about I help you make a booking tomorrow so you can go boating with her?
— Hi, Mom (2021)