Would you like to have lunch _____us?怎样填？为什么用with？

with 表示和~~一起
后接人称代词宾格形式

和。。。 一起

和。。。一起 用with
work with
play with

为什么不能用with呢?
Would you like to have lunch with us?
你是否愿意和我们一起共进午餐呢?