in road racing (= bicycle races on roads), a rider in a team whose job is to help the team leader, for example by riding in front of them, setting the pace (= speed), or getting drinks for them

The book detailed his life as a domestique on the cycling circuit. 这本书详细介绍了他在自行车赛场上的陪赛生涯。

He was looking for his chance to go from domestique to team leader. 他当时正在寻找机会从陪赛队员变为领队骑手。