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I don't think this is an easy one. I think if you have a chance at making this you would have to use ASM. Or a cheap way (if the sprite is small enough and you want a permanent pokemon.) Try an OW editor with the pokemon right behind the char sprite
This thread should be able to give you a good grasp on on how to work with a Follow Me feature. I think it'd be worthwhile to read the entire thing because there is in-depth discussion on the pitfalls associated with Follow Me.