companion, attendant
空港までお伴しましょう。
I'll accompany you to the airport.
今度のお休み歌舞伎にでもお伴しようと思ってたのよ
I was thinking I’d accompany you to a kabuki performance or something on your next day off.
— 東京物語 (1953)
お伴したいものです。
I would like to accompany you.
私のかわりにお伴させて下さい.
Please let me accompany you in their place.
— もののけ姫 (1997)
じゃ今晩金車亭へでもお伴するか
Well then, shall I accompany you to Kinshatei tonight?