He said to her, “Shall I accompany you to Agra?” Change into Indirect Speech
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Indirect Speech: He asked her if he would accompany her to Agra.
Explanation: While reporting imperative sentences we use reporting verbs like ask, request, beg, order, advise, wish etc to match the mood of the sentence.
And if the reporting verb is in the past tense, then the modals like will/shall change to would.