To lead the person or other, to a direction.
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Left
Police Boats Escorting Naval Parade - 1898 was released on: USA: September 1898
yes in nyc & l.a.
The formal, dictionary term of escorting means to go with someone somewhere. For example, many celebrities have a bodyguard that escorts them through possibly dangerous situations.
Silk Stalkings - 1991 Escorting Disaster 7-21 was released on: USA: 12 April 1998
You could use the word "accompanying" rather than escorting. It has a less chivalrous tone, but it is fairly synonymous. Depending on the circumstances, "dating" might also be appropriate.
After escorting Boo home, Scout reflects on the events that have unfolded and gains a deeper understanding of Boo Radley. She also gains a newfound empathy for him and comes to appreciate his reclusive nature.