Fallout 4. Power Armor?

Have a question, I have had Fallout 4 (ps4) for quite a while, but recently I saw a short video on YouTube, where the accompanying person can also wear power armor, now my question, how can / should I do it with it she wears one? PS: have two power armor

Put the power armor with the fusion core somewhere and give the companion the command to use the armor or "move there".

Was also for a long time that companions went to PRs of their own accord when they were standing around and e.g. A settlement was attacked. But I'm not sure if that's still the case.

All right, thanks for that, I'll give it a try.