I'll come for a walk with you.

I'll come for a walk with you said my son.

Aw thats nice how lovely i said come on then.

So this shows my walk WITH my son.

That little red spot is my son and he is not really walking WITH me. But I don't care I was pleased of his company and when he was on his way back and I was still just on my way, we stopped and had a chat.

Of course you can walk 'with' me anytime.