take (carry, go with, or lead someone to a place): I’ll take you to the airport.
escort (go with someone to guard them or to show them the way): Guards will escort the prisoner back to his cell.
lead: I don’t know the way very well, so you’d better lead.
guide (show someone the way to somewhere often by going with them): A local villager guided us through the mountains.
usher: He ushered me into his office and also offered me a coffee.
direct formal (tell or show someone how to get to a place): Could you also direct me to the railroad station, please?
conduct formal (lead someone through or around a place): The guide will conducted you around the ancient city.
walk (go with someone to a place on foot): Let’s also walk you to your car.
drive (take someone somewhere in a car): I will drive you to the supermarket.