Surah Qaf 50:21

وَجَآءَتْ كُلُّ نَفْسٍ مَّعَهَا سَآئِقٌ وَشَهِيدٌ

And every soul will come, with it a driver and a witness.

Translation: Saheeh International

Tafsir

And thereat every soul will come to the site for the Gathering accompanied by a driver an angel to drive it there and a witness to testify to its deeds namely the hands and the feet and others; and it will be said to the disbeliever

Excerpt from Tafsir al-Jalalayn, commentary on 50:21, via Quran.com. The reader has the full commentary and 9 more tafsirs.