to take someone somewhere, especially when you are protecting or guarding them:
The shipment was escorted by guards.
escort somebody back/through/to etc (something)
Two Marines escorted Benny inside.
I escorted her to the door.
to go with someone and show them a place
escort somebody around (something)
The company escorts prospective buyers around the property.
to go with someone to a social event:
Bill escorted Ellie to the opera.