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From MormonWiki

A companion is the term used to refer to a missionary’s partner. Missionaries work in teams known as companionships. Normally, a companionship has only two people, but can occasionally have three as the need arises. Missionary companionships typically last 3 to 4 months, but the time frame can vary widely. A companionship usually changes when one or both missionaries are transferred out of their missionary area. Companionships are the base of missionary organization, with several companionships serving in a district.