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escort (one) from (something)
To accompany one out of some place or thing, perhaps to ensure that they leave. If you keep talking during the play, the usher will escort you from the theater! I escorted my date from the party and made sure she got into a cab safely.
escort (one) to (something)
To accompany one to some place or thing, perhaps to ensure that they do not deviate from that path. Will you please escort my cousin to the prom? Her date canceled on her at the last minute. If you keep talking during the play, the usher will escort you to the exit! One of the ushers will escort you to your seats.
escort someone or something from something
to accompany or lead someone or something away from something or some place. A police officer escorted them from the auditorium. A band of honorary pallbearers escorted the coffin from the chapel.
escort someone or something to something
to accompany or lead someone or something to something or some place. We escorted the women to their seats. Claude escorted Harry to the exit and bade him farewell.