accompany (one) on a/(one's) journey
To travel with someone or something. I think someone should accompany you on your journey so that you don't have to drive 10 hours on your own. Ellie's teddy bear definitely has to accompany us on our journey, or she'll be a wreck without it.
accompany someone on a journey
1. [for someone] to go with someone on a trip, journey, adventure, etc. Would you please accompany me on my next trip?
2. [for something] to be brought with someone on a trip, journey, etc. My cameras always accompany me on my travels.