companion
noun
a person who is frequently in the company of, associates with, or accompanies another.
Used to describe an ongoing action or continuous state that was happening at a specific time in the past.
Examples are provided to illustrate real-world usage of words in context. Any opinions expressed do not reflect the views of Dictionary.com.
She chattered away, these last few precious moments, as merrily as if Timothy were companioning the adventure of this trip to Lewisburg, but he found no tongue to reply.
From The Heart of Arethusa by Frances Barton Fox