Don't say:
The teacher accepted to go with us.

Say:
The teacher agreed to go with us.

Note:
We agree with a person, but to a thing. I agree with Luke, but I can't agree to this plan .. Accept means to take something that is offered to you. Maria accepted the bunch of flowers. It afso means to believe something you're told: Ken accepted his explanavon. Agree to means to do what one is asked to do: David agreed to come to London on Monday, but agree with means to have the same opinion as someone else The Long family never agfee with each other.