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If you're playing on PC, you can use the console . If not, I'm pretty sure you can't get it back.
Where ever you got the NPC from in the first place, other than Fawkes who goes to the museum infront of Underworld.
Charon goes to Underworld, Fawkes infront of Underworld, Star Paladin Cross back to Citadel (needs comfirmation), Jericho back to Megaton (or around it if it's no longer there) and dogmeat to outside Vault 101.