O Almighty and merciful God, who hast commissioned Thy angels to guide and protect us, command them to be our assiduous companions from our setting out until our return; to clothe us with their invisible protection; to keep from us all danger of collision, of fire, of explosion, of fall and bruises, and finally, having preserved us from all evil, and especially from sin, to guide us to our heavenly home. Through Jesus Christ, our Lord. Amen.
Further reading
The prayer asks for angelic companionship from departure to return, and ultimately on the way to our heavenly home. Jean Daniélou's The Angels and Their Mission explores the place of angels in Christian life through the writings of the Church Fathers.