What do you call the servants who follow a king during a procession? I am pretty sure there was a word for it, but I don't know if the word only applied to the people in a procession or not.
One term is retinue for which Lexico has
A group of advisers, assistants, or others accompanying an important person.
The scale and precise role of the retinue of officers and servants who travelled with a prince has not been established.