Answer:
Foot in the door technique
Step-by-step explanation:
Foot In the door technique is the persuasion technique in which a person initially persuades others for the small request, then the person is more likely to be persuaded for the larger request which they would not have not agreed to at first.
In the given case, the person had persuaded you first for the smaller request by asking you to walk with him/her part of the way. But eventually, you were persuaded to walk with the person to their destination.
So, according to the definition provided, this is an example of 'Foot in the door technique'.