I'll go with you
Do you want me to come with you?
Prends une cigarette, et puis je t'accompagne ?
Have a cigarette, and then I’ll come with you?
— Laurence Anyways (2012)
I'll walk you to the door.
Wait, I'll come with you.
Veux-tu que je t'accompagne chez toi ?
Would you like me to walk you home?
I'll walk you to your car.
Do you want me to come with you?