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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.
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.
This question refers to the sharp contention that the apostles Paul and Barnabas had concerning John Mark at the start of Paul's second missionary journey, recorded in the Acts of the Apostles Ch. 15 & v. 37 to 40. On their first missionary journey, Paul & Barnabas took John Mark with them, but he turned back at the second port of call, (Acts.13.13). The Bible doesn't say why, but maybe he got a bit scared, because they had plenty of opposition to preaching the Gospel.
timothy
Paul visited Corinth during his second missionary journey, where he stayed for over a year and a half. He visited Athens during his second missionary journey as well, after leaving Berea and before arriving in Corinth.
1 and 2 Thessalonians were written during Paul's Second Missionary Journey.
49 AD
Paul's second missionary journey was to Greece A.D. 50-53.
Acts 15:36 - Then after some days Paul said to Barnabas, "Let us now go back and visit our brethren in every city where we have preached the word of the Lord, and see how they are doing." [NKJV]
approximately 1,400 miles
Paul received the "Macedonian call" while on his second missionary journey. His first trip to Europe was in response to this call. You can read about when Paul started his second missionary journey in Acts 15:36-41, and when Paul received the "Macedonian call" in Acts 16:6-11, and read about the first convert in Europe in Acts 16:14-15.
Barnabus was a Levite who sold land and donated to the the apostles for use in the new churches. He introduced Paul to the apostles in Jerusalem and assured them of Paul's genuine conversion (bearing in mind there would have been considerable skepticism given his former role in the persecution of Christians). Barnabus was described as being a good man and full of the Holy Spirit and of faith. He went to Antioch and on the First Missionary Journey with Paul. He was to have gone on the Second Missionary Journey, but instead went with Mark to Cyprus on account of a disagreement with Paul over the inclusion of Mark on the Paul's journey.