To show someone where they should go, or to make someone go where you want them to go. (Cambridge Dictionary)
An officer or servant who has the care of the door of a court, hall, or chamber. (Merriam – Webster)
If you usher someone somewhere, you show them where they should go, often by going with them. (Collins Dictionary)
A person who shows people to their seats, especially in a cinema or theatre or at a wedding. (Oxford Dictionaries)
Example
Usher statue. Wikimedia Commons

https://commons.wikimedia.org/wiki/File:Usher_statue_-_full_body.jpg
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