Synonyms for Escort (same or very similar meaning)
WordNet sense 1 (a participant in a date):
dateWordNet sense 2 (someone who escorts and protects a prominent person):
bodyguardWordNet sense 3 (accompany or escort):
seeWordNet sense 4 (the act of accompanying someone or something in order to protect them):
accompanimentFrom the ODE community, based on WordNetadd/edit