Usually when a friend joins your game you follower will leave, however if you are in the middle of combat he won't leave until your taking a break ( like the counter of kills stops )
So just:
1. Play alone with a follower
2. Engage a hard fight for example champion packs and dont stop attacking.
3. Invite your friend
4. He can TP to you and help you kill the champions while your follower is up. ( until combat timer resets )