Heard at the Dinner Table

I tuned in part way through this conversation:

Garrett: "So CHIVALRY is not dead."

Parker: "What IS chivalry anyway?"

Garrett: "Come on you're a freshmen. You had to have already studied this in Global Studies this year. There was a time they started worshipping women.

Chivalry is - you know - opening the door for a girl, letting her go in front of you in line, buying her a drank (hip hop reference there) and esquiring her around town."

What the heck is "esquiring" her?

Thank heavens chivalry is not dead!