Bilbo went along because Gandalf chose Bilbo out of all the hobbits in The Shire because he remembered him from earlier times when Bilbo was young and adventureous. I forgot Gandalfs exact motivation for picking Bilbo, but he knew that Bilbo would be important somehow. I would have to read the Edoras chaper in UT again to find out.
I think you should read The Hobbit. It is still my favorite book ever.
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Son of Isildur.
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