Accompany

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late Middle English: from Old French accompagner, from a- (from Latin ad ‘to, at’) + compagne, from Old French compaignon ‘companion’. The spelling change was due to association with company.

wiktionary

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From Middle English accompanien, from Old French acompagner(“to associate with”), from compaing(“companion”), nominative singular of compaignon(“companion”). See company.

etymonline

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accompany (v.)

early 15c., "to be in company with," from Old French acompaignier "take as a companion" (12c., Modern French accompagner), from à "to" (see ad-) + compaignier, from compaign (see companion). Musical meaning "play or sing along with" is from 1570s. Related: Accompanied; accompanying.