The kanji itself means participate, so you'd think this word would mean "to participate" but it's a little more complex than that. Think of it as "to participate" but where you have to come or to go in order to do it. This is the humble way to say those things, so you're going to these places with your tail between your legs, just happy you can participate more than anything.

By extension, this is also a humble way to say to visit, often used if you're visiting something sacred like a shrine or a tomb.