To accompany another through a passage for their safety. An escort goes along rather than ahead.
Italian scorta, from scorgere (to guide), from Vulgar Latin excorrigere, ex- plus corrigere (to set right).
Its root shares its backbone with correct: corrigere meant to set right, to straighten a path gone wrong. An escort still carries a trace of that older job, not just present alongside but ready to set a passage right if it starts to go wrong.