accompany
陪同(accompany sb. = 陪同某人,中性,无特别保护含义)
escort
护送,正式陪同(escort sb. = 以保护或礼仪目的陪同,含监督/保护意味)
Parents are welcome to accompany their children on the school trip to ensure they feel comfortable in the new environment.
家长可以陪同孩子参加学校旅行,以确保他们在新环境中感到舒适。
The visiting dignitary was escorted through the building by two senior officials and a security detail.
来访贵宾由两名高级官员和一支安保队伍护送通过建筑。