I'm willing to be responsible for their actions. I will have them stay with me at all times..
The steps to be taken will depend on the person's nationality and criminal or immigration history. Assuming they need a visa, you can prepare an invitation letter for them, but the process is usually handled through the US consulate or embassy in the country where they are. I've attached a link to the State Department page on temporary visitors, you may find it helpful. Good luck!
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