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Paul usually traveled with other disciples - Timothy, Barnabas, etc.
Initially it was Paul and Barnabas and Silas, but Barnabas wanted to bring John Mark, but Paul said no because John Mark had left them earlier. So Barnabas left with John Mark and Paul and Silas continued on. Timothy joins them later and Luke is also there.
The names of the main characters that are found in the new testament are Jesus, Paul, , Mary , Timothy, Peter, John , Matthew. And a few like Barnabas and Stephen.
It depends upon the journeys. the short answer is that over all the journeys Paul was accompanied by Peter, Barnabas, Timothy, Silas, John Mark (author of the Gospel of Mark) and Luke amongst others.
The cast of characters in the book of Acts is quite numerous and includes Peter, James, John, Stephen, Philip, Paul, Ananias, Barnabas, Silas, James, Cornelius, Timothy, Titus, Lydia, Luke, Apollos, Felix, Festus, and Agrippa.
Paul's traveling companions changed often. Some of the better-known men who accompanied him from time to time include Barnabas, John Mark, Silas, Luke, and Timothy. In his letters, Paul also mentions lesser-known companions such as Gaius and Aristarchus (Acts 19:29), and Epaphroditus (Philippians 2:25).
Paul referred to Barnabas in his First Epistle to the Corinthians and in his Epistle to the Galatians, in both cases implying that the recipients already knew of Barnabas. It is hardly possible that Paul would have written of Barnabas in this way, unless Barnabas was a real person. Barnabas is also mentioned in Colossians, but the clear majority of biblical scholars regard Colossians as pseudographical, so this epistle does not provide proof for Barnabas.Acts made Paul a lesser character in the history of the early church, one who did not act on his own initiative but sought the authority of Peter and James on important matters. Whereas Paul had represented Barnabas as a loyal assistant, Acts had Barnabas become a mentor assigned to Paul by the Jerusalem elders in order to educate him and play a part in the Gentile church as an equal to Paul. There is no proof outside Acts that Barnabas was ever more than Paul's assistant.
Several different fellow-workers accompanied Paul at various times, including Barnabas, John Mark, Silas, Timothy, Titus, Luke, and an unspecified number of others.
Mark, JohnEarly missionary and church leader; author of second Gospel; son of Mary in whose home the Jerusalem believers met to pray when Peter was imprisoned by Herod Agrippa I (Acts 12:12); sometimes called by Jewish name, John, and sometimes by Roman name, Mark. John Mark was kin to Barnabas (Col. 4:10). After Barnabas and Saul completed a relief mission to Jerusalem, they took Mark with them when they returned to Antioch (Acts 12:25). When Barnabas and Saul went as missionaries, they took Mark to help (Acts 13:5). They went from Antioch to Cyprus and then on to Pamphylia, where Mark left them and returned to Jerusalem (Acts 13:13). When Paul and Barnabas planned another journey, Barnabas wanted to take Mark. When Paul refused, Barnabas and Mark went together while Paul and Silas went together (Acts 15:36-40).When Paul wrote Philemon, Mark was one of Paul's fellow workers who sent greetings (Philem. 24). Paul wrote to the Colossians to receive Mark if he came to them (Col. 4:10). Paul asked Timothy to bring Mark with him because Paul considered Mark a useful helper (2 Tim. 4:11). Peter referred to Mark as his "son" (1 Peter 5:13).
In the book of Acts it is said Paul went on his third missionary journey along with his companion who were his co workers they were young men called Silas and Barnabas.
Barnabas took Paul and brought him to the apostles
Barnabas was Paul's companion on his first missionary journey. They traveled together to Cyprus and Asia Minor to preach the gospel and establish churches.