Can we say Toni rode with/drove with Danny to the mall? 
I am not sure if "rode with" gives the same meaning of "drove with". 

I want to say that Toni went in the car with Danny, and he drives her to the mall along with him because he was already driving to the mall. I am not sure if saying "drive with someone or ride with someone" means to get into the car with them.

Is it correct to say that "Danny drove Toni to the mall with him." to indicate that he was also going to the same destination, or I should only say that "Danny drove Toni to the mall"?