Although I had been attending before when my friend go out, he went out alone on a wheelchair yesterday. I worried about him so I called him to confirm how did it going. According to my friend, when he had troubled kindly people always appeared, and they carried him to his destination.
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Thank you for your messages with reviews! I mean "attending" that my friend can't move by himself in a wheelchair, so usually I push his weelchair from backside.
Oh, okay, I think saying "helping" may clear it up a bit more. Something like "Although I had been helping my friend go out before" or "Normally when my friend goes out, I help him, but yesterday he went out alone <in a wheelchair>/<in his wheelchair>" might be more along the lines of what you're trying to say at the beginning. :)
@Shauna Thank you verry much for your advice!!