Words for 'escorting,' 'showing around': 带你出去 vs. 护送你出去 vs. 陪你去玩儿
带 has a sense of lead/host, A带B去 can be used in the situation where B doesn't know the place but A does, so A takes B there and shows him around.

陪 means accompany, it does not have the sense of lead/host. B陪A may be used in a situation where A may feel strange or uncomfortable with acting alone and wants somebody else to accompany him.

护送 means precisely escort, where 护 means 保护 (protect).