The phrase "accompanied her home" is correct and usable in written English.
It can be used when describing someone who goes with another person to their home, often to ensure their safety or provide company.
Example: "After the party, he accompanied her home to make sure she arrived safely."
Alternatives: "escorted her home" or "went with her to her house."
He butchered Kathryn Bright and tried to kill her brother who had unexpectedly accompanied her home.
Ms. Ramsden, 67, spent the next 10 hours in a hospital emergency room with Ms. Zichy and accompanied her home in a taxi at 1 a.m.
Ms. Palin came into the interview with heavy preparation from Mr. McCain's top political and policy advisers, many of whom accompanied her home to Alaska, where Mr. Gibson will be holding a series of question-and-answer sessions with her through Friday afternoon.
That is not all that will accompany her home.
Sometimes he'd met Lisa after her shift, to accompany her home.
One night she let him accompany her home, and he asked to use her telephone to call his father.
The widowed Mary defied her king and secretly married the Duke of Suffolk when he arrived in France to accompany her home.
This opinion is corroborated by both her mother and the end-of-term reports that accompany her home from the private school in Hampshire at which her parents installed her four years ago.
Then, taking Lulu as the very model of innocence, Legrand accompanies her home and soon becomes he thinks—her lover, even while giving her money and supporting her in a new and comfortable way of life.
A top aide to the Assembly speaker was indicted today on charges that he raped a 22-year-old legislative aide twice in her apartment after accompanying her home from a bar two months ago.
In his autobiography, Mr. Whyte tells of taking a North End girl to a church dance one evening and then accompanying her home, a move that in neighborhood tradition meant he intended to marry her.
