Okay just move HIS waypoint closer to you. That's all I can think of without using a command of sorts, you'll have to wait to get others opinions.
However, you could just leave him with the waypoint on him and the trigger radio alpha and in the trigger's activation field type:
dude join playerguy
So you name the guy "dude" and the player person "playerguy" and that should when you radio Alpha make the guy join you and a simple fall back into formation should do the trick or a unit move order to like 5 feet in front of you.
Sorry if I cannot help more but all I suggest is either wait for someone else, listen to what I said, or go to the editor depot and grab some tutorials.
Good luck