To look after or attend to someone who is ill, injured, or drunk; often implies staying with and helping them temporarily.
酔っ払った友達を家まで介抱して帰した。
I looked after my drunk friend and took him home.
夜中に急に具合が悪くなったので、夫がずっと介抱してくれた。
When I suddenly became ill in the night, my husband stayed with me and cared for me.
看護師が患者を優しく介抱した。
The nurse gently attended to the patient.