明日、先生のご自宅に参上いたします。
I will call on you at your home tomorrow, sir.
ご用の際はいつでも参上いたしますので、お申し付けください。
Whenever you need anything, just let me know and I will come at once.
「正義の味方、ただいま参上！」と彼はふざけて部屋に入ってきた。
"Champion of justice, here at your service!" he joked as he came into the room.