How do you use your housecarl in Skyrim?

I'm talking about The Elder Scrolls V Skyrim. I have the housecarl but I don't know how to access it.How do you use your housecarl in Skyrim?
She should be standing by the door when you are about to leave Dragonreach. Just talk to her and tell her to follow you.How do you use your housecarl in Skyrim?
Just as a side note, if Lydia is not by the door, check for her at the long table in the main hall.

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