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If you arrive in Concourse B and need to go to Concourse D for a connecting flight, do you need to go through Security again? BWI is not the final destination. Connecting flight is domestic not international.
B and D are not connected inside security. So you will have to go through security to access concourse D.
Can I accompany my 94 yr old mother to gate even if I am not flying
Most Airports will make allowances for this kind of situation. I suggest you contact the Airport at (410) 859 7111) or through http://www.bwiairport.com/en/en/about-bwi/contact. Another option is to head straight to the information desk in the arrivals area and request permission.