companion

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companion

Social medicine An individual with whom a person has a close personal relationship Examples Spouses, lovers, children, parents, friends, pets and others, who provide an individual with a sense of belonging and of being needed. See Companionship.
References in classic literature ?
I enjoyed my night in the orchard; for a time I was companioned by sweet old memories; and then I fell asleep listening to the murmurs of the wind in those old trees yonder.