Accompanying in health care is a relational process between two or more people who walk together on a path to mutual development, with at least one intentionally offering appreciation, presence, acceptance, and support. The study analyzed the concept of accompaniment using an eight-step model and a systematic literature review in PubMed, Embase and Cochrane Central databases. Of the 378 original records, 19 publications from 16 lead authors met the inclusion criteria. The most common attribute of accompaniment is a personal and ethical relationship oriented towards human development through a joint process that supports a humanized social climate. Accompanying is a transversal, interdisciplinary concept that can contribute to the humanization of healthcare and supports the development of future measurement tools. Research highlights that mentoring is increasingly recognized in professional practices as a key relational process, although its importance varies widely between disciplines.