The correct answer is: "Yo te pido que me acompañes".
Explanation:
The sentence is referring a request to a singular second person to join the first person singular in the future. The best expression in Spanish for this is in the present subjunctive, in the form of subordinate sentences, because the present subjunctive help you express wishes or desires for events in the present or future.
In the subordinate sentences there is a principal sentence, that has the main subject (the person that ask for or wish something) and the principal verb, which has to be conjugated depending on the intention and time that wants to be expressed. In this case, there is an intention to express a present and actual request at this moment, therefore the correct time to conjugated is in the present simple. Now, for this case, the principal sentence is "Yo (pedir)", and as the first person singular (Yo) is the subject, then the verb has to agree with this, thus the correct conjugation for the verb "pedir" is: "pido". This verb, that is, "to ask for" has an indirect object found with the question: whom? We can see that as the subject (yo) is not asking to an unknown person but directly to someone, that we know is the second person singular (tú) as mentioned in the subordinate sentence, so we can add before the conjugated verb (pido) a pronoun of indirect object for the second person singular: "te". Now, subordinate sentence expresses the wish or desire itself, which has to be conjugated in the present subjunctive. In this case, the subordinate sentence is: "que tú me (acompañar)". So, as the subject in this sentence is the second person singular (tú), then the conjugation has to agree with it, thus the correct way to conjugate it is: "acompañes".
Therefore, the correct answer is "Yo te pido que me acompañes".
