Is there a verb meaning to accompany a superior person to help him/her through out his/her travel?

I tried to find the verb for the action of a person traveling along with a superior person (in rank or age) to help throughout the journey. I couldn't find out one. Example:

Jack _____ his mom to her business trip, just to manage reservations and to ease her trip.

Common verbs include accompanying, escorting, travelling-along. But these words do not really give the essence of help. Escort does, but it is not flexible enough.

The nouns include servant. Servant, in the present world sounds harsh on ears.

The example sentence could've been better, but I cannot think of one. To keep it clear, my search is related to travel. I hope answers from you. Thanks

Perhaps re-word it to use a noun not a verb.

Jack served as his mom's assistant for her business trip, just to manage reservations and to ease the trip.

Jack served as his mom's secretary for her business trip, just to manage reservations and to ease the trip.

Escort (noun): An escort is a person who travels with someone in order to protect or guard them. - Collins Dictionary

Example: He arrived with a police escort shortly before half past nine.

Escort (verb): If you escort someone somewhere, you accompany them there, usually in order to make sure that they leave a place or get to their destination.

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Escort (noun): a companion or guard for someone or something. - Cambridge Dictionary

Example: Anytime a clerk transfers money, he is provided with an armed escort.

Escord (verb): to go with someone or something as a companion or guard.

Example: He escorted her to her car in the parking lot because it was after dark.

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Usher (verb): If you usher someone somewhere, you show them where they should go, often by going with them. - Collins Dictionary

Example: I ushered him into the office. (Formal)

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Usher (verb): to show someone where they should go, or to make someone go where you want them to go. - Cambridge Dictionary

Example: She ushered us into her office and offered us coffee.

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I suggest the verb chaperone given by Lexico as

chaperone
VERB

Accompany and look after or supervise.
He's climbed Everest ten times, in good weather and bad, from the north and from the south, by himself and chaperoning clients.

So your sentence could be

Jack chaperoned his mom on her business trip, to manage reservations and to make her journey easy.

In the noun form, Lexico gives

1 A person who accompanies and looks after another person or group of people.
Without police chaperones, organizers were worried for participants' safety.

Please note the older use of the term:

1.1 dated An older woman responsible for the decorous behaviour of a young unmarried girl at social occasions.

So my suggestion inverts the politics of the older meaning.