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Middle English accompanien from Old French acompagnier a- to (from Latin ad- ad–) compaignon companion companion1
American Heritage Dictionary of the English Language, 5th Edition
First attested in early 15th century.
I suggest you accompany me home.
Among the fifteen knights selected by Arthur to accompany him to Chastel Orguellous he only ranks ninth.
Innumerable so-called chances accompany him everywhere.
Whether or not she wished to accompany him was not his concern.
It formed the imperial "Swiss guard," and never left the city except to accompany the emperor.
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