Is it grammatical to use a comma to separate this phrase 'Accompany somebody to do something'?

Do we always say ‘accompany someone to do something’?
I think the following sentence is grammatically wrong for using comma, which creates a run-on sentence.

But it is from Hans Christian Andersen’s book, so I don’t think the writer will make such mistake. Please shed some light.

"Early the next morning the king and queen accompanied the lady and all the officers of the household, to see where the princess had been."