You command your animal companion to take a stance.

When a creature successfully damages your animal companion, you order it to retreat. As long as it can hear you, your companion moves up to its Speed toward you in the most direct course it is able to, stopping at the end of its movement or when you are between it and the creature that injured it (whichever comes first).

Choose a creature of the up to one size category larger than your animal companion within 20 feet.

If you have Extra Attack, you may use this maneuver in place of one attack. You command your animal companion to move up to its base movement speed in a straight line toward a creature. If your animal companion ends this movement within melee range, it makes one attack against that creature. Your animal companion cannot take the Dash action and this maneuver on the same turn.