You need to go to the airline counter BEFORE the flight arrives and ask for a gate pass. They are given according to the airline discretion and it would be for only ONE person who would have to go through security to get to the gate. You need to get there with enough time to do all that and be at the gate when the flight arrives.
I brought my granddaughter today who is 17. You need to get the pass from her airline (such as Southwest). They gave my husband and I both a pass to bring her to the gatem
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