Answer:
I believe the answer is B but since they are very similar, you can pick whichever sounds right to you.
Explanation:
Ne voulez-vous pas nous accompagner means Don’t you want to come with us? This basically sounds like they are asking the person a question if they still want to tag along with them.
Here are the "rough" translations (should give basic meaning)
A. You don’t want to go with us, do you? (This sounds more like a rejection than an offer)
B. you want to come with us, right? (This sounds like they are making sure the person wants to go with them)
C. Are you sure you don’t want to go with us? (Sounds like the person already made a decision to not go)
D. Do you want to come with us? (sounds like they didn't even realize the person was even going or are just now offering)