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escort (n.)

1570s, in military sense, from Middle French escorte (16c.), from Italian scorta, literally "a guiding," from scorgere "to guide," from Vulgar Latin *excorrigere, from ex- "out" (see ex-) + Latin corrigere "set right" (see correct (v.)). The sense of "person accompanying another to a social occasion" is 1936.

escort (v.)

1708, originally military, from escort (n.), or from French escorter; social sense is from 1890. Related: Escorted; escorting.

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Definitions of escort from WordNet
1
escort (n.)
someone who escorts and protects a prominent person;
Synonyms: bodyguard
escort (n.)
the act of accompanying someone or something in order to protect them;
Synonyms: accompaniment
escort (n.)
an attendant who is employed to accompany someone;
escort (n.)
a participant in a date;
Synonyms: date
2
escort (v.)
accompany as an escort;
She asked her older brother to escort her to the ball
escort (v.)
accompany or escort;
Synonyms: see
From wordnet.princeton.edu