From BiblePortal Wikipedia

Vine's Expository Dictionary of NT Words [1]

1: Συνέπομαι (Strong'S #4902 — Verb — sunepomai — soon-ep'-om-ahee )

lit., "to follow with" (sun, "with," hepomai, "to follow"), hence came to mean simply "to accompany,"  Acts 20:4 .

2: Συνέρχομαι (Strong'S #4905 — Verb — sunerchomai — soon-er'-khom-ahee )

chiefly used of "assembling together," signifies "to accompany," in  Luke 23:55;  John 11:33;  Acts 9:39;  10:45;  11:12;  15:38;  21:16 . In  Acts 1:21 it is said of men who had "companied with" the Apostles all the time the Lord Jesus was with them. See Assemble , Come , Company , Go , Resort.

3: Ἔχω (Strong'S #2192 — Verb — echo — ekh'-o )

"to have," is rendered "accompany," in  Hebrews 6:9 , "things that accompany salvation." The margin gives perhaps the better sense, "things that are near to salvation."

4: Προπέμπω (Strong'S #4311 — Verb — propempo — prop-em'-po )

translated "accompanied," in  Acts 20:38 , AV, lit. means "to send forward;" hence, of assisting a person on a journey either (a) in the sense of fitting him out with the requisites for it, or (b) actually "accompanying" him for part of the way. The former seems to be indicated in  Romans 15:24;  1—Corinthians 16:6 , and 1Cor.16:11, where the RV has "set him forward." So in  2—Corinthians 1:16; and  Titus 3:13 , and of John's exhortation to Gaius concerning traveling evangelists, "whom thou wilt do well to set forward on their journey worthily of God,"  3—John 1:6 , RV. While personal "accompaniment" is not excluded, practical assistance seems to be generally in view, as indicated by Paul's word to Titus to set forward Zenas and Apollos on their journey and to see "that nothing be wanting unto them." In regard to the parting of Paul from the elders of Ephesus at Miletus, personal "accompaniment" is especially in view, perhaps not without the suggestion of assistance,  Acts 20:38 , RV "brought him on his way;" "accompaniment" is also indicated in  Acts 21:5; "they all with wives and children brought us on our way, till we were out of the city." In  Acts 15:3 , both ideas perhaps are suggested. See Bring , Conduct.

Webster's Dictionary [2]

(1): (v. i.) To perform an accompanying part or parts in a composition.

(2): (v. i.) To associate in a company; to keep company.

(3): (v. t.) To cohabit with.

(4): (v. i.) To cohabit (with).

(5): (v. t.) To go with or attend as a companion or associate; to keep company with; to go along with; - followed by with or by; as, he accompanied his speech with a bow.

King James Dictionary [3]

ACCOM'PANY, See Company.

1. To go with or attend as a companion or associate on a journey, walk, &c as a man accompanies his friend to church, or on a tour. 2. To be with as connected to attend as pain accompanies disease.