Consider the comitative. Now, let's consider this grammaticalization path:
general comitative case exists
the language has plural and singular congruence
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the comitative is lost, in general
pronouns retain it, though
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comitative pronouns get more restricted in distribution, and only appear after verbs
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comitative pronouns are phonologically reduced and turned into affixes
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the usage patterns make the meaning more like 'singular subject doing a thing together with singular comitative'
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meaning slowly changes to just meaning 'two subjects'
Another possibility would be an adverb-like 'with' that needs no noun (but can take one). Things like 'he went with' come to signify 'he went [with (discourse topic)]'. Another possibility is for an applicative comitative voice, possibly by incorporating a comitative adposition.
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