Followers are NPCs who agree to join you on your adventures. Some are trained hirelings, mercenaries who will fight in exchange for gold. Others might be ordinary townspeople inspired by your example who agree to follow you if asked. They help in combat and also carry excess inventory.
Most followers can be issued commands. Target your follower, then press and hold 
to enter the command state. While in the command state, you can tell your follower to:
- Wait at a specific spot on the ground.
- Use an object in the world, such as a lever or a chair.
- Attack an enemy.
- Open a locked door or container.
- Pick up items in the world.
- Exit the command state by pressing
.
Note that not all followers can be commanded, and some commands may not be carried out, either because they are physically impossible for your follower (such as picking a lock that is beyond their skill), or because they object to the command (such as being asked to attack a member of their family).
Be warned, the guards will hold you responsible for any crimes you command a follower to commit!
While followers will attempt to remain at your side, there are some places in Skyrim where they cannot accompany you (such as jail). They will wait outside for you to reappear, but after waiting 3 days, your follower will leave.
Should a follower ever leave your service, they will return to their normal lives. You can always ask them to come with you again (although Hirelings may demand a new fee).
Followers
A few followers also happen to be trainers. All of the housecarls are potential followers as well.
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The Elder Scrolls V: Dawnguard
Mercenaries and sellswords
Also known as "Hirelings". Hirelings are mercenaries found in the major citites of Skyrim. There is one hireling in each city, usually found in the tavern. Because of their combat experience, hirelings are among the most capable followers. Each hireling has a unique personality and skill set.
Unlike other followers, Hirelings work only for money. If you dismiss the hireling, replace them with another follower, or leave them waiting for too long (such as while serving a jail sentence), you have a small window of time during which you can hire them back at no cost. Otherwise, you will have to pay their fee to hire them again.
Hirelings include:
Opportunistic followers
Occasionally, the Dragonborn can have more than one follower at one time. On occasion, their availability can be exploited. They do not respond to follwer commands]] nor can they be traded with. They do not automatically sheathe their weapons in concert with the Dragonborn and trying to give them items by planting them in their inventory does not work. These NPCs are considered essential, so they can't die.
Mercer Frey
Quest: Speaking with Silence – Meet Mercer outside Snow Veil Sanctum. He will tell you to take the lead and go inside. Don't enter the sanctum, and he'll follow you until you complete the quest, including any detours you make.
Delphine and Esbern
Quest: Alduin's Wall – Inside the Sleeping Giant Inn, Delphine will ask if you want to travel together or separately, select traveling together and they will both follow you until you complete the quest, including any detours you make.
Barbas
Quest: A Daedra's Best Friend – As long as you do not return The Rueful Axe to Clavicus Vile, Barbas will follow you.